基于装配误差分析的空间高精度驱动机构装配技术研究

Research on Assembly Technology of Space High-Precision Driving Mechanism Based on Analysis of Assembly Error

针对高精度轴系组件旋转精度、精密小模数谐波减速器轴向安装精度及传动精度装调技术难点,分析装配误差角度对高精度空间驱动机构精度的影响,获得影响精度的关键因素。采用偏心矢量分析方法,建立了传动精度误差模型。通过轴向间隙装配尺寸链分析并建立数学模型,采用快速低成本修配法实现轴向装配精度控制。通过定向装配法控制轴系组件轴线跳动方向以及控制谐波减速器中柔轮-刚轮-凸轮轴线同轴度,实现了轴系径跳≤0.01 mm,端跳≤0.01 mm,机构传动精度≤2′的装配运动精度要求。同时开展了定向装配法和随机装配法对轴系和驱动机构精度影响的对比试验,结果表明:定向装配法相比传统装配方法精度提高了约20%。

Targeting the technical difficulties of high-precision shafting component rotation accuracy,axial installation accuracy of precision small mode harmonic reducer and transmission accuracy adjustment technology,the influencing factors for the accuracy of high-precision space drive mechanism were analyzed from the perspective of assembly error.The key factors affecting the accuracy of the drive mechanism were obtained and the eccentric vector analysis method was used to establish a transmission accuracy error model.Through the analysis of the axial clearance assembly size chain and the establishment of mathematical models,the axial assembly accuracy control was realized by using the fast and low-cost repair method.The directional assembly method was used to control the shaft runout direction of the shafting assembly and the coaxiality of the flexible wheel-rigid wheelcam axis in the harmonic reducer.The assembly movement accuracy requirements:the shaft diameter jump≤0.01 mm,the end jump≤0.01 mm,the mechanism transmission accuracy≤2'were met.At the same time,the comparative test of the accuracy of the shafting system and the drive mechanism affected by the directional assembly method and the random assembly method was carried out.The results showed that the accuracy of the directional assembly method was improved by about 20% as compared with the traditional assembly method.