考虑柔性变形的谐波减速器动力学建模与振动响应分析

Dynamic modeling and vibration response analysis of harmonic reducer considering flexible deformation

谐波减速器作为工业机器人核心的关键零部件之一,其服役性能直接决定了整机的可靠性和使用寿命。建立了考虑柔性变形的谐波减速器“等效凸轮-等效柔轮-刚轮”耦合的集中参数法振动模型:结合零件的几何结构特征,定性地分析了相互作用元件之间的等效刚度;建立了谐波减速器在扭转方向3个自由度的动力学微分方程,解析了包括谐波齿轮啮合时的位移激励、周期性载荷引起的动刚度特性与振动响应特征的映射关系。通过机理分析,揭示了谐波减速器振动响应的频率分布规律。实验分析证明了所提模型和机理分析的有效性,解决了缺乏有效的机理模型来研究谐波减速器多部件耦合振动响应特征的工程问题。

As one of the key components in robot,the harmonic reducer directly affects the reliability and service life of the whole system.It’s necessary to establish a more precise mechanism model to explain its complicated and unique vibration features.A new methodology for harmonic drive modeling is proposed based on the lumped-parameter method and then the coupled vibration mechanism is revealed by frequency spectrum analysis.Combined with the geometric structure characteristics of the parts,the equivalent stiffness between the interacting elements is qualitatively analyzed;The dynamic differential equations of the harmonic reducer with three degrees of freedom in the torsion direction are established,and the mapping relationship between the dynamic stiffness characteristics caused by the harmonic gear meshing and the vibration response characteristics is analyzed.Through the mechanism and simulation analysis,the frequency distribution law of the vibration response of the harmonic reducer is revealed.It’s proved in the experimental signal that this harmonic drive model can replicate many features in actual vibration response.