滑移型三叉式联轴器运动学建模

Kinematic Model of Tripod Sliding Universal Joints

为了解滑移型三叉式联轴器的运动学特性,建立了其运动学模型:应用坐标变换技术,建立输入输出轴转角之间的关系及滑杆对于输入轴和三叉的相对位移表达式;运用输入输出轴两轴线的向量叉积求出了联轴器夹角方程式。结果表明:输出角误差、输出轴角速度误差、滑杆相对于输入轴和三叉的相对位移及联轴器夹角都具有周期性并相似于正弦曲线;输出角误差、输出轴角速度误差和联轴器夹角都3倍于输入轴频率,而滑杆对输入轴和三叉的相对位移则分别等于和2倍于输入轴频率。数值结果与相关文献一致性较好证明了所建模型的有效性。

In order to understand the kinematic properties of the tripod sliding universal joint,its kinematic model was established.First,the relation between the input and output angles and the relative displacements of the slide-rods to the input shaft and to the tripod were obtained by using coordinate transformation technology.And then,the expression of the fluctuation of the joint angle was derived from the cross product of the centerlines of the input and output shafts.The numerical results show that the output angle error,the angular velocity error of the output shaft,the joint angle and the relative displacements of the slide-rods to the input shaft and to the tripod are all periodic and similar to a sinusoid.In addition,the output angle error,the angular velocity error of the output shaft and the joint angle have a threefold frequency of the input shaft,whereas the relative displacements of the slide-rods to the input shaft and to the tripod have simple and twofold frequencies of the input shaft respectively.The gained results agree well with the main documents,and validate the present model.