發(fā)布時(shí)間：2019-03-09 14:23

【摘要】：在航天特殊工況下,要求伺服傳動(dòng)系統(tǒng)具有小型化、輕量化、承載能力極大化的特點(diǎn),普通商業(yè)化的產(chǎn)品難以滿足指標(biāo)要求,傳統(tǒng)的諧波傳動(dòng)設(shè)計(jì)都是基于假設(shè)性力學(xué)模型和經(jīng)驗(yàn)公式,尤其對于重載精密諧波傳動(dòng)的設(shè)計(jì)尚缺乏理論支撐和試驗(yàn)驗(yàn)證。本文以內(nèi)嚙輸出重載環(huán)形諧波齒輪為研究對象,充分考慮航天工況的特殊性,重點(diǎn)對其力學(xué)性能、承載能力及失效進(jìn)行了理論研究,旨在為設(shè)計(jì)滿足航天需求的新產(chǎn)品提供必要的理論依據(jù)。 文中首先在以往研究和航天工況下諧波傳動(dòng)承載特性基礎(chǔ)上,分析得出諧波傳動(dòng)中薄弱環(huán)節(jié)柔輪的應(yīng)力與變形直接影響系統(tǒng)的承載能力。應(yīng)用一般設(shè)計(jì)理論對柔輪進(jìn)行設(shè)計(jì),借助Abaqus有限元工具對其進(jìn)行裝配體應(yīng)力與變形仿真分析,分析結(jié)果表明,柔輪主要截面的應(yīng)力與變形和理論值存在差異,通過對差異的研究發(fā)現(xiàn)有限元計(jì)算更能揭示柔輪真實(shí)的應(yīng)力和變形規(guī)律。進(jìn)而通過改變?nèi)彷嗛L徑比、壁厚、輸入齒寬、輸出齒寬等結(jié)構(gòu)參數(shù),得到了結(jié)構(gòu)參數(shù)對環(huán)形諧波傳動(dòng)空載下應(yīng)力與變形的影響規(guī)律。 根據(jù)航天工況載荷的特殊性,在裝配體仿真的基礎(chǔ)上對環(huán)形諧波傳動(dòng)進(jìn)行1倍到5倍額定載荷下的柔輪應(yīng)力與變形分析,通過提取柔輪典型截面在不同載荷下的應(yīng)力與位移值作對比研究,找出了柔輪承載下的危險(xiǎn)截面及其主要影響應(yīng)力,得到了柔輪應(yīng)力與變形隨載荷的變化規(guī)律。同時(shí)研究了柔輪長徑比、壁厚、輸入齒寬、輸出齒寬等主要結(jié)構(gòu)參數(shù)對柔輪承載能力的影響,通過對不同結(jié)構(gòu)參數(shù)下環(huán)形諧波傳動(dòng)1倍、3倍和5倍載荷下的應(yīng)力分析,獲得了承載能力隨柔輪結(jié)構(gòu)參數(shù)變化的規(guī)律,研究表明柔輪長徑比、柔輪壁厚以及輸入齒寬是影響柔輪承載能力主要因素。 根據(jù)諧波傳動(dòng)工況的特殊性分析了在強(qiáng)過載下柔輪的主要失效形式,并且根據(jù)柔輪負(fù)載下變形規(guī)律推導(dǎo)出適用于內(nèi)嚙輸出環(huán)形柔輪的齒面磨損理論計(jì)算公式,由優(yōu)化后的柔輪不同載荷下應(yīng)力分析得出在強(qiáng)過載下尖頂接觸是造成失效的主要原因。
[Abstract]:Under the special conditions of spaceflight, servo drive system is required to be miniaturized, lightweight and load-carrying capacity maximized. It is difficult for commercial products to meet the requirements of indexes. The traditional harmonic drive design is based on hypothetical mechanical model and empirical formula, especially for the design of heavy-duty precise harmonic drive, there is still lack of theoretical support and experimental verification. In this paper, the internal meshing output heavy load ring harmonic gear is taken as the research object, considering the particularity of the spaceflight condition, the mechanical properties, bearing capacity and failure of the gear are studied in theory. In order to provide the necessary theoretical basis for the design of new products to meet the needs of aerospace. Firstly, based on the previous research and the characteristics of harmonic drive under space conditions, it is concluded that the stress and deformation of the soft wheel in harmonic drive directly affect the bearing capacity of the system. The flexible wheel is designed by using the general design theory, and the stress and deformation of the flexible wheel is simulated by means of Abaqus finite element method. The results show that the stress and deformation of the main section of the flexure wheel are different from the theoretical value, and the stress and deformation of the main section of the flexible wheel are different. Through the study of the difference, it is found that the finite element calculation can more reveal the true stress and deformation law of the flexure wheel. Then by changing the structural parameters such as the ratio of length to diameter, wall thickness, input tooth width and output tooth width, the influence of structural parameters on stress and deformation of ring harmonic drive under no load is obtained. According to the particularity of spaceflight load, the stress and deformation of ring harmonic drive under 1 to 5 times rated load are analyzed on the basis of assembly simulation. By comparing the stress and displacement of typical section of flexure wheel under different loads, the dangerous section and its main influence stress are found out, and the variation rule of stress and deformation of flexure wheel with load is obtained. At the same time, the influence of the main structural parameters, such as the ratio of length to diameter, wall thickness, input tooth width and output tooth width, on the bearing capacity of the flexible wheel is studied. The stress analysis of the ring harmonic drive under 1, 3 and 5 times loads under different structural parameters is carried out. The law of the bearing capacity varying with the structural parameters of the pulley is obtained. The study shows that the main factors affecting the bearing capacity of the flexible wheel are the ratio of length to diameter, the thickness of the wall and the width of the input teeth. According to the particularity of harmonic drive, the main failure forms of flexible wheel under strong overloading are analyzed. According to the deformation rule of flexible wheel under load, the theoretical calculation formula of tooth surface wear suitable for internal meshing output ring flexible wheel is deduced. According to the stress analysis of the optimized flexible wheel under different loads, it is concluded that the tip contact is the main cause of failure under strong overloading.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH132.43
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本文編號：2437546