考虑力矩波动的机器人关节用齿轮副动力学研究

Dynamic Responses of Gear Pair Employed in Robot’s Joints Considering Fluctuations of Driving and Load Torques

为揭示作用于齿轮副输入输出端扭矩波动对其动态特性的影响规律,以一对直齿圆柱齿轮为研究对象,考虑时变啮合刚度、静态传动误差,构建其六自由度动力学模型。考虑齿轮副驱动扭矩及负载扭矩的波动特性,利用数值算法获得动态传动误差、线性振动位移等振动响应。进一步地,研究静态传动误差、转速、扭矩波动相角等参数对振动响应的影响规律。结果表明:动态传动误差的峰谷值随着静态传动误差、转速及扭矩波动相角的增大而增大;而扭矩以正弦形式波动时,可在一定程度上降低动态传动误差的峰谷值;线性振动位移随波动幅值增大而增大。

Considering time-varying mesh stiffness and static transmission error(STE),a 6 degree-of-freedom dynamics model for a pair of spur gear was established, to reveal the effects of the fluctuations of driving and load torques on dynamic responses of gear pair.The numerical algorithm was adopted to solve governing equations to obtain dynamic transmission error(DTE) and linear vibration displacements, with the fluctuations incorporated. Furthermore,the influences of STE, rotating speed and relative phase angle of torques on DTE and the displacements were revealed. The simulation results indicate that peak-valley value of DTE increases with the increase of STE, rotating speed of pinion and the phase angle;while the peak-valley value is reduced to some extent when the fluctuation comes up with sinusoidal profile;the amplitudes are amplified with increasing of the fluctuation.