【摘要】：隨著現(xiàn)代工業(yè)與科學(xué)技術(shù)的高速發(fā)展，機(jī)械結(jié)構(gòu)系統(tǒng)中的振動問題也日益突出，良好的結(jié)構(gòu)動態(tài)性能已成為產(chǎn)品開發(fā)設(shè)計中重要的優(yōu)化指標(biāo)，利用動態(tài)設(shè)計方法取代傳統(tǒng)的靜態(tài)設(shè)計已成為機(jī)械結(jié)構(gòu)設(shè)計的必然發(fā)展趨勢。 諧波齒輪傳動是建立在薄殼彈性變形理論基礎(chǔ)上的一種新型傳動模式，該傳動模式在航天領(lǐng)域得到了廣泛應(yīng)用。由于航天任務(wù)的高可靠性要求，必須提前確定航天任務(wù)環(huán)境下諧波齒輪傳動的固有頻率和固有振形。如果僅靠實(shí)驗(yàn)獲取齒輪傳動固有特性數(shù)據(jù)，將大大增加型號研制的時間成本和資金成本。為了有效解決上述問題，本文通過分析諧波齒輪結(jié)構(gòu)，建立柔輪和波發(fā)生器組件的動力學(xué)模型，利用理論分析降低實(shí)驗(yàn)測試的成本。 首先，分析了某型機(jī)器人的諧波齒輪減速器的原理，將經(jīng)典接觸理論引入諧波齒輪減速器動力學(xué)建模，，在對剛輪和柔輪接觸狀態(tài)進(jìn)行分析的基礎(chǔ)上，建立了諧波減速器的動力學(xué)有限元模型，對該減速器的固有頻率和固有振形進(jìn)行了計算，得到了理論條件下的頻率及振形數(shù)據(jù)。 其次，采用SignalCalc430Dynamic Signal Analyzer（動態(tài)信號分析儀）和ME'Scope模態(tài)測試軟件，用移動力錘激振，三個傳感器固定輸出的方法，進(jìn)行了諧波齒輪減速器的模態(tài)試驗(yàn)，通過實(shí)際測試得到了減速器的固有頻率及振形。 最后，對理論建模與試驗(yàn)測試的結(jié)果進(jìn)行對比分析。分析結(jié)果表明，通過理論建模計算得到的頻率及振形數(shù)據(jù)與實(shí)際測試數(shù)據(jù)一致，驗(yàn)證了諧波齒輪減速器動力學(xué)建模方法的正確性。 本文采用的基于接觸理論的動力學(xué)建模方法，較好解決了建立諧波齒輪減速器的動力學(xué)模型問題，對進(jìn)一步研究諧波齒輪傳動的動態(tài)特性，如動態(tài)精度、動態(tài)剛度、動態(tài)結(jié)構(gòu)修改和動態(tài)結(jié)構(gòu)優(yōu)化具有一定的參考價值。
[Abstract]:With the rapid development of modern industry and science and technology, the vibration problem in mechanical structure system is becoming more and more prominent. Good dynamic performance of structure has become an important optimization index in product development and design. Using dynamic design method to replace traditional static design has become an inevitable development trend of mechanical structure design. Harmonic gear transmission is a new type of transmission mode based on elastic deformation theory of thin shell, which has been widely used in aerospace field. Due to the high reliability requirement of space mission, the natural frequency and natural vibration shape of harmonic gear transmission in space mission environment must be determined in advance. If the inherent characteristic data of gear transmission are obtained only by experiment, the time cost and capital cost of the model development will be greatly increased. In order to solve the above problems effectively, the dynamic model of flexible wheel and wave generator assembly is established by analyzing the harmonic gear structure, and the cost of experimental test is reduced by theoretical analysis. Firstly, the principle of the harmonic gear reducer of a robot is analyzed, and the classical contact theory is introduced into the dynamic modeling of the harmonic gear reducer. On the basis of the analysis of the contact state of the rigid wheel and the flexible wheel, the contact state of the rigid wheel and the flexible wheel is analyzed. The dynamic finite element model of harmonic reducer is established. The natural frequency and natural vibration shape of the reducer are calculated and the frequency and vibration data under theoretical conditions are obtained. Secondly, the modal test of harmonic gear reducer is carried out by means of dynamic signal analyzer (SignalCalc430Dynamic Signal Analyzer () and ME'Scope modal test software, and by means of moving hammer excitation and fixed output of three sensors, the modal test of harmonic gear reducer is carried out. The natural frequency and vibration shape of the reducer are obtained by practical testing. Finally, the theoretical modeling and test results are compared and analyzed. The analysis results show that the frequency and vibration data obtained from the theoretical modeling calculation are consistent with the actual test data, and the correctness of the dynamic modeling method for harmonic gear reducer is verified. In this paper, the dynamic modeling method based on contact theory is adopted to solve the problem of establishing the dynamic model of harmonic gear reducer. The dynamic characteristics of harmonic gear drive, such as dynamic precision and dynamic stiffness, are further studied. Dynamic structural modification and dynamic structural optimization have certain reference value.
【學(xué)位授予單位】：國防科學(xué)技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH132.43

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