伺服平台消隙齿轮刚柔耦合动力学特性的研究与分析

Research and Analysis of Rigid-Flexible Coupling Dynamics for Servo Platform’s Anti-Backlash Gears

为了研究消隙齿轮系统的动力学特性,提高伺服平台的传动精度和稳定性。用ADAMS多体动力学软件建立消隙齿轮系统刚柔耦合的动力学模型,并建立伺服平台物理样机,对消隙齿轮系统的相关特性进行了研究。结果表明,输出转速和转角的偏差均值随输入转速以及轴间偏移量的增加而增大,随拉簧刚度的减小而增加;消隙时间随输入转速的增加而快速减小,随轴间偏移量的增加而增大;谐振频率随轴间偏移量的增加而减小。实物试验与仿真实验结果的误差很小,验证了动力学仿真的准确性。

In order to study the dynamics of the anti-backlash gears system and improve the transmission accuracy and stability of the servo platform.Establishing the rigid-flexible coupling model of anti-backlash gear system by ADAMS multi-body dynamics software and establishing the physical prototype of the servo platform to study the system’s dynamic.The results are shown as follow,the output speed and rotation angle’mean value of the deviation increases with the increase of the input speed and the offset between the gear shafts,and increases as the stiffness of the tension spring decreases;the backlash clearance time decreases with the increase of the input speed,and increases with the increase of the offset between the gear shafts;the resonance frequency decreases with the increase of the gear shafts’ offset.The results’ error between the physical test and simulation experiment is very small,which verifies the accuracy of the dynamic simulation.