本文選題：薄壁四點(diǎn)接觸球軸承 + 四點(diǎn)接觸��； 參考：《昆明理工大學(xué)》2017年碩士論文

【摘要】：工業(yè)機(jī)器人在汽車制造、機(jī)械加工及航天航空等領(lǐng)域得到廣泛應(yīng)用。腕部關(guān)節(jié)動力學(xué)特性對工業(yè)機(jī)器人的平穩(wěn)性、定位精度以及可靠性等關(guān)鍵的動態(tài)性能指標(biāo)有重要的影響。薄壁四點(diǎn)接觸球軸承作為工業(yè)機(jī)器人的關(guān)鍵配套專用軸承,目前對此類軸承的研究僅停留在靜力學(xué)階段,無法滿足工業(yè)機(jī)器人配套軸承的研究需求。變速變加速工況下考慮特殊冠型結(jié)構(gòu)保持架的中大型尺寸薄壁四點(diǎn)接觸球軸承的動力學(xué)特性是工業(yè)機(jī)器人動力學(xué)研究的難點(diǎn),還處于嘗試探索階段。運(yùn)用多體動力學(xué)方法和有限元方法,考慮軸承特殊冠型結(jié)構(gòu)保持架和中大尺寸薄壁套圈的彈性變形,各部件之間復(fù)雜動態(tài)接觸關(guān)系,建立工業(yè)機(jī)器人用薄壁四點(diǎn)接觸球承和腕部關(guān)節(jié)的剛?cè)狁詈蟿恿W(xué)模型。深入分析了薄壁四點(diǎn)接觸球軸承和腕部關(guān)節(jié)的動力學(xué)性能和保持架的穩(wěn)定性以及彈性變形影響等重要問題,為國內(nèi)此類軸承高性能自主研發(fā)提供理論支持。論文的主要研究工作如下:(1)基于Hertz接觸理論基礎(chǔ),對薄壁四點(diǎn)接觸球軸承的接觸應(yīng)力和接觸變形進(jìn)行理論推導(dǎo)計(jì)算,得到點(diǎn)接觸問題的基本方程以及載荷分布規(guī)律,運(yùn)用有限元方法建立單滾動體和整個(gè)軸承的多體接觸靜力學(xué)模型,討論網(wǎng)格劃分和接觸參數(shù)的選擇對結(jié)果計(jì)算的影響,分析在不同徑向載荷下的四點(diǎn)接觸和變形量及載荷分布規(guī)律,與Hertz理論計(jì)算值對比驗(yàn)證仿真結(jié)果的有效性。(2)基于多體動力學(xué)方法,利用ADAMS軟件建立薄壁四點(diǎn)接觸球軸承多剛體動力學(xué)分析模型,計(jì)算得到薄壁四點(diǎn)接觸球軸承特有的運(yùn)動形式、接觸規(guī)律及其他動力學(xué)特性,分析了不同轉(zhuǎn)速和預(yù)緊力等工況下薄壁四點(diǎn)接觸球軸承的動力學(xué)性能,獲得四點(diǎn)接觸特性和變化規(guī)律。(3)考慮中大型尺寸薄壁套圈和特殊冠型保持架的彈性變形,基于ADAMS/Flex模塊和有限元模態(tài)分析,建立內(nèi)外套圈和冠型保持架的柔性體模型�？紤]鋼球和柔性套圈的四點(diǎn)動態(tài)接觸關(guān)系,建立薄壁四點(diǎn)接觸球軸承的剛?cè)狁詈隙囿w接觸動力學(xué)模型。對比分析了多剛體和剛?cè)狁詈蠗l件下球軸承的動態(tài)接觸特性,表明彈性變形和動態(tài)四點(diǎn)接觸作用對中大型尺寸薄壁球軸承的動態(tài)接觸力的大小和振動位移有不可忽視的影響。(4)建立由腕關(guān)節(jié)基座,兩套薄壁四點(diǎn)接觸球軸承和兩個(gè)空心軸構(gòu)成的多體接觸動力學(xué)分析模型,在靜力學(xué)條件下計(jì)算了整個(gè)空心軸、套圈和基座的變形結(jié)果;對基座及空心軸進(jìn)行柔性化后,對其整個(gè)腕部剛?cè)狁詈隙囿w接觸動力學(xué)系統(tǒng)進(jìn)行動力學(xué)分析,模擬不同載荷比和正反轉(zhuǎn)變速俯仰運(yùn)動等變速工況下,薄壁四點(diǎn)接觸球軸承的動力學(xué)性能及其對腕部關(guān)鍵系統(tǒng)的影響。
[Abstract]:Industrial robots are widely used in automobile manufacturing, mechanical processing, aerospace and other fields. The dynamic characteristics of wrist joint play an important role in the stability, positioning accuracy and reliability of industrial robot. Thin-walled four-point contact ball bearings are the key matching special bearings for industrial robots. At present, the research on such bearings is only in the statics stage, which can not meet the research needs of industrial robot matching bearings. The dynamic characteristics of large and medium size thin wall four-point contact ball bearings with special crown type cages under variable speed and variable acceleration conditions are difficult points in the dynamic research of industrial robots and are still in the stage of exploration. By using the multi-body dynamics method and the finite element method, the elastic deformation of the bearing special crown cage and the middle and large size thin-walled ring are considered, and the complex dynamic contact relationship between the components is considered. A rigid-flexible coupling dynamic model of thin-walled four-point contact ball bearing and wrist joint for industrial robot is established. The dynamic properties of thin wall four-point contact ball bearings and wrist joints, the stability of cage and the influence of elastic deformation are deeply analyzed, which provides theoretical support for the independent research and development of such bearings with high performance in China. The main research work of this paper is as follows: (1) based on Hertz contact theory, the contact stress and contact deformation of thin wall four-point contact ball bearing are deduced and calculated, and the basic equation of point contact problem and the law of load distribution are obtained. The finite element method is used to establish the multi-body contact statics model of the single rolling body and the whole bearing. The influence of mesh generation and contact parameter selection on the calculation results is discussed. The four-point contact and deformation and load distribution under different radial loads are analyzed. The validity of the simulation results is verified by comparing with the calculated values of Hertz theory. The dynamic analysis model of multi-rigid body of thin-walled four-point contact ball bearing is established by using ADAMS software. The special motion form, contact law and other dynamic characteristics of thin-walled four-point contact ball bearing are calculated. The dynamic properties of thin-walled four-point contact ball bearings under different rotating speed and preloading conditions are analyzed. The four-point contact characteristics and variation law of four-point contact ball bearings are obtained. The elastic deformation of thin-walled rings and special crown cages with medium and large size is considered. Based on ADAMS/Flex module and finite element modal analysis, the flexible body model of inner and outer ring and crown cage is established. Considering the four-point dynamic contact relationship between steel ball and flexible ring, a rigid-flexible coupling multi-body contact dynamic model of thin-walled four-point contact ball bearing is established. The dynamic contact characteristics of ball bearings under multi-rigid and rigid-flexible coupling conditions are compared and analyzed. It shows that elastic deformation and dynamic four-point contact action have important influence on the dynamic contact force and vibration displacement of large-sized thin-walled ball bearings. Two sets of thin-walled four-point contact ball bearings and two hollow shafts are used to analyze the multi-body contact dynamics. The deformation results of the whole hollow shaft, ring and pedestal are calculated under static conditions, and the base and hollow shaft are flexible. The dynamic analysis of the whole wrist rigid-flexible coupling multi-body contact dynamic system is carried out, and the variable speed working conditions such as different load ratio and positive and inverse rotation pitch motion are simulated. The dynamic performance of thin-walled four-point contact ball bearing and its influence on the key system of wrist.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242.2;TH133.3

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