导杆式万向节的运动分析及仿真

Motion Analysis and Simulation of Guide Rod Universal Joint

针对常用万向节难以限制输入和输出轴夹角,且难以在有轴向压力和拉力下的情况下正常工作的问题,设计了一种新型恒等速三导杆式万向节装置,并对导杆式万向节的结构进行了介绍,详细阐述其工作原理,建立了万向节的三维模型,使用D-H变换对其进行了运动学求解,求出了导杆式万向节导杆与输入轴间距、导杆行程、铰接点到导杆行程端点距离和输入轴与输出轴最小夹角等主要参数之间的关系和运动特性。利用仿真软件对其实际运动过程进行仿真和实验,实验和仿真与推导结果一致,验证了该装置结构设计的合理性和理论推导的正确性,为导杆式万向节的设计和使用提供了理论基础。

Aiming at the problem that it’s difficult to limit the angle between input and output shafts and to work normally under axial pressure and tension,a new type of constant speed universal joint with three guide rods is designed.The structure of the guide rod universal joint is introduced,the working principle is explained in detail,the three-dimensional model of the universal joint is established,the kinematics of the joint is solved by using the D-H transformation,and the relationship and movement characteristics of the main parameters,such as the distance between the guide rod and the input shaft,the guide rod stroke,the distance from the hinge point to the end of the guide rod travel,and the minimum angle between the input shaft and the output shaft are obtained.The simulation and experiment of the actual motion process are carried out by using the simulation software.The results of the experiment and simulation are consistent with the derivation,which verifies the rationality of the device structure design and the correctness of the theoretical derivation,and provides a theoretical basis for the design and use of the guide rod type universal joint.