摘要
建立了机器人关节用2K-V型两级传动的三维实体模型,进行了三维参数化设计,并对机器人关节传动系统进行了运动仿真,只需在模型中改变相关参数便可以重生得到机器人关节用的不同型号的2K-V型传动系统。在此基础上,建立了2K-V型两级传动的动力学模型,考虑齿轮传动与摆线针轮传动时变刚度的影响,研究了传动系统的动态响应和动态特性,得到了额定转矩下系统各部件的响应和系统的各阶固有频率与振型。以摆线轮振动加速度最小和体积最小为多目标对2K-V型两级传动系统进行优化研究,得到了传动系统有关的性能与几何参数,得到的2K-V型两级传动满足了机器人关节传动系统的小体积和高动态特性的要求。经优化,该型号2K-V型传动装置体积减小了12.13%,动力学响应减小明显。
Established a three dimensional solid model of 2K--V type transmission for robot joint, its three dimensional parametric design is presented, the motion simulation of robot joint transmission system is investigated, so long as the parameters used in the model are simply changed, the different types of 2K--V type transmission for robot joint can be got. On this basis, a 2K V type transmission dynamic model which considers the influence of time--varying meshing stiffness of gear transmission and cycloid transmission is established, and dy namic response and dynamic characteristics of the transmission system are obtained, the natural frequencies and vibration modes of various components of the system under rated torque are given out. The minimum vibration acceleration of the cycloid gear and the minimum volume of the system are regarded as the multi--targets, the optimization of 2K--V type transmission system is investigated, the performance and geometric parameters of the transmission system are obtained, the 2K- V type transmission got meets the requirements of the small size and good dynamic characteristics of the robot joint transmission system.
出处
《计算机测量与控制》
北大核心
2013年第3期716-718,721,共4页
Computer Measurement &Control
基金
国家自然科学基金(51275422)
西北工业大学研究生创业种子基金(Z2012028
Z2012058)
