支撑对轻量化起升机构力学性能的影响分析

起升机构是桥式起重机的重要组成部件,其轻量化设计对整机的工作性能、尺寸、重量和制造成本具有及其重要的影响,是起重机轻量化设计的关键部分。悬空减速器和电机的三支点集成布置比传统的单独组合布置形式,具有重量轻、小车高度低、外形尺寸小等特点,同时这种集成布置对支撑和联接也提出了更高的要求。综合考虑支撑位置和联接方式对起升机构力学性能的影响,提出典型支撑位置和典型支撑件相组合的四种支撑联接方案,开展支撑方案对集成式起升机构力学性能的影响分析。采用有限元和理论分析相结合的方法,建立支撑方案对起升机构的力学模型,分析不同支撑方式下起升机构的受力状态和变形情况。分析结果表明支撑件的支撑位置对起升机构的力学性能有较大的影响:减速器输入轴端的支撑对起升机构的整体变形影响颇大;减速器输出轴端的支撑对整体应力分布影响颇大。

基于空间映射的山地移动机器人环境建模方法

针对山地环境的特殊性,提出了一种基于空间映射的环境建模方法.通过离散化和空间映射,将三维曲面模型转化为由点集和点距集构成的二维平面模型,从而使三维路径规划问题降维成二维平面路径规划问题;同时,在点距集的生成过程中,利用目标函数来构造相应的点距函数,以使所建环境模型可适用于不同目标下的路径规划任务;最后,在MATLAB中利用蚁群算法对所建环境模型进行路径规划仿真实验,验证了该方法的可行性与通用性,同时将该方法与传统的栅格法和高程建模法进行对比,验证了该方法的优越性.

Mesh stiffness calculation of cycloid-pin gear pair with tooth profile modification and eccentricity error

Cycloid speed reducers are widely used in many industrial areas due to the advantages of compact size, high reduction ratio and high stiffness. However, currently, there are not many analytical models for the mesh stiffness calculation, which is a crucial parameter for the high-fidelity gear dynamic model. This is partially due to the difficulty of backlash determination and the complexity of multi-tooth contact deformation during the meshing process. In this paper, a new method to calculate the mesh stiffness is proposed including the effects of tooth profile modification and eccentricity error. The time-varying mesh parameters and load distribution of cycloid-pin gear pair are determined based on the unloaded tooth contact analysis （TCA） and the nonlinear Hertzian contact theory, allowing accurate calculations of the contact stiffness of single tooth pair and the torsional stiffness of multi-tooth pairs. A detailed parametric study is presented to demonstrate the influences of tooth profile modification, applied torque and eccentricity error on the torsional mesh stiffness, loaded transmission error, Hertzian contact stiffness and load sharing factor. This model can be applied to further study the lost motion and dynamic characteristics of cycloid speed reducer and assist the optimization of its precision, vibration and noise levels.

Mechanical behaviors of cross roller bearings with raceway roundness error

Taking the raceway roundness error into account,mechanical characteristics of cross roller bearings(CRBs)were investigated.A static analysis model of CRBs considering the raceway roundness error was established.Based on this model,the rotational accuracy and load distribution of CRBs under constraints of geometry and external loads were derived.The fatigue life of CRBs with roundness error was calculated by applying Palmgren-Miner linear cumulative damage theory.The influence of inner and outer raceway roundness error on the performance of the CRBs,such as rotational accuracy,load distribution,and fatigue life,was studied through the analysis of examples.The results indicate that the influence of roundness error on the rotating inner raceway is more significant than that of roundness error on the nonrotating outer raceway.The roundness error on the rotating inner raceway always degrades the performance of CRBs.However,a proper roundness error on the nonrotating outer raceway can reduce the loads acting on the rollers and thus improve the fatigue life of CRBs.The effect of the roundness error amplitude on the bearing performance is ordinal,whereas the effect of the roundness order on the bearing performance is not in order.

Theoretical and experimental investigation on internal gear pair with small sliding ratio

Aiming at the issue of sliding ratio,an internal gear pair is proposed which consists of an involute internal gear and a pinion with quadratic curve teeth.Particularly,the contact pattern is point contact and the pinion is generated based on an involute gear.The generation method and mathematical models of the gear pair are presented.The sliding ratio is calculated and the general calculation formulas of sliding ratios are developed.Also,the comparison between the involute gear and proposed gear is made.The adaptability of center distance and contact stress are also discussed.In addition,the gear pair was manufactured and inspected according to the exactitude solid model of the gear pair.In order to confirm this model to be effective,the efficiency experiment and the contrast experiment with the involute gear pair were performed.Furthermore,these two types of pinions were analyzed by scanning electron microscope and wear depths were measured by measuring center.The experiment results show that the efficiency of the internal gear pair is stable at a range about 97.1%to 98.6%and wear depth is less than 50%of the involute gear pair.The internal gear pair is expected to have excellent transmission performance.