摘要
为了研究微型机器人关节在非稳定工作状态下的机电耦合作用机理,考虑误差以及齿轮啮合时变刚度,采用集中参数法,建立了电机拖动二级串联行星齿轮传动系统的机电耦合模型,计算求解得到了系统的固有频率以及质量参数对系统固有频率的影响、模态能的分布规律,分析了在冲击载荷下齿轮系统的扭振特性。结果表明,零件质量增加将使系统固有频率降低;系统模态能主要表现为低阶扭转振动应变能和高阶动能;在冲击过程中,系统表现为1阶固有频率与1倍啮合频率主导的振动模式。
In order to study the electromechanical coupling mechanism of the micro-robot joints in the un⁃steady working state and considering the time-varying stiffness and error of gear meshing,a lumped parameter method is adopted to establish an electromechanical coupling model of the motor-driven two-stage series plane⁃tary gear transmission system.The influence of the natural frequency,and quality parameters of the system on the natural frequency of the system and the distribution law of modal energy is calculated and the torsional vibra⁃tion characteristics of the gear system under impact load are analyzed.The research results show that as the quali⁃ty of parts increases,the natural frequency of the system shows a downward trend.The modal energy of the sys⁃tem is mainly manifested as low-order torsional vibration strain energy and high-order kinetic energy.During the impact process,the system behaves as a vibration mode dominated by a first-order natural frequency and a onetime meshing frequency.
作者
莫帅
李旭
杨振宁
周长鹏
岑国建
黄云生
Mo Shuai;Li Xu;Yang Zhenning;Zhou Changpeng;Cen Guojian;Huang Yunsheng(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Modern Electromechanical Equipment Technology,Tianjin 300387,China;Jiangsu Wanji Transmission Technology Co.,Ltd.,Taizhou 225400,China;Ningbo Zhongda Leader Transmission Equipment Co.,Ltd.,Ningbo 315301,China;Shenzhen Hefa Gear Machinery Co.,Ltd.,Shenzhen 518109,China)
出处
《机械传动》
北大核心
2022年第8期1-7,共7页
Journal of Mechanical Transmission
基金
国家自然科学基金(51805368)
中国科协青年人才托举工程资助项目(2018QNRC001)
数字制造装备与技术国家重点实验室开放基金(DMETKF2021017)。
关键词
机电耦合
行星传动
冲击载荷
固有特性
振型
Electromechanical coupling
Planetary transmission
Impact load
Inherent characteris⁃tics
Vibration mode
