The distinguishing feature of a vertical ball screw feed system without counterweight is that the spindle system weight directly acts on the kinematic joints.Research into the dynamic characteristics under acceleratio...The distinguishing feature of a vertical ball screw feed system without counterweight is that the spindle system weight directly acts on the kinematic joints.Research into the dynamic characteristics under acceleration and deceleration is an important step in improving the structural performance of vertical milling machines.The magnitude and direction of the inertial force change significantly when the spindle system accelerates and decelerates.Therefore,the kinematic joint contact stiffness changes under the action of the inertial force and the spindle system weight.Thus,the system transmission stiffness also varies and affects the dynamics.In this study,a variable-coefficient lumped parameter dynamic model that considers the changes in the spindle system weight and the magnitude and direction of the inertial force is established for a ball screw feed system without counterweight.In addition,a calculation method for the system stiffness is provided.Experiments on a vertical ball screw feed system under acceleration and deceleration with different accelerations are also performed to verify the proposed dynamic model.Finally,the influence of the spindle system position,the rated dynamic load of the screw-nut joint,and the screw tension force on the natural frequency of the vertical ball screw feed system under acceleration and deceleration are studied.The results show that the vertical ball screw feed system has obviously different variable dynamics under acceleration and deceleration.The influence of the rated dynamic load and the spindle system position on the natural frequency under acceleration and deceleration is much greater than that of the screw tension force.展开更多
Axial stiffness of ball screws has great effects on accuracy of positioning,dynamic characteristic and transmission efficiency. Axial contact stiffness modeling of ball screws is the key problem in dynamic analysis of...Axial stiffness of ball screws has great effects on accuracy of positioning,dynamic characteristic and transmission efficiency. Axial contact stiffness modeling of ball screws is the key problem in dynamic analysis of ball screws. Aiming at obtaining axial stiffness of ball screws considering microscopic fractal characteristics of contact surfaces,a new analytical method is proposed to estimate axial contact stiffness of ball screws and combine the minimum excess principle with Mandelbort( MB)fractal theory in this research. The minimum excess principle is employed to conduct normal stress analysis. And the Mandelbort fractal theory is adopted to obtain contact stiffness in ball screws. The effectiveness of the proposed method is validated by the self-designed experiment. The comparison between theoretical results and experimental results demonstrates that axial contact stiffness of ball screws could be obtained by the proposed method.展开更多
In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture t...In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.展开更多
基金Supported by Key Program of National Natural Science Foundation of China(Grant No.51235009)National Natural Science Foundation of China(Grant No.51605374).
文摘The distinguishing feature of a vertical ball screw feed system without counterweight is that the spindle system weight directly acts on the kinematic joints.Research into the dynamic characteristics under acceleration and deceleration is an important step in improving the structural performance of vertical milling machines.The magnitude and direction of the inertial force change significantly when the spindle system accelerates and decelerates.Therefore,the kinematic joint contact stiffness changes under the action of the inertial force and the spindle system weight.Thus,the system transmission stiffness also varies and affects the dynamics.In this study,a variable-coefficient lumped parameter dynamic model that considers the changes in the spindle system weight and the magnitude and direction of the inertial force is established for a ball screw feed system without counterweight.In addition,a calculation method for the system stiffness is provided.Experiments on a vertical ball screw feed system under acceleration and deceleration with different accelerations are also performed to verify the proposed dynamic model.Finally,the influence of the spindle system position,the rated dynamic load of the screw-nut joint,and the screw tension force on the natural frequency of the vertical ball screw feed system under acceleration and deceleration are studied.The results show that the vertical ball screw feed system has obviously different variable dynamics under acceleration and deceleration.The influence of the rated dynamic load and the spindle system position on the natural frequency under acceleration and deceleration is much greater than that of the screw tension force.
基金Supported by the National Natural Science Foundation of China(No.51575014,51505012)Natural Science Foundation of Beijing(No.KZ201410005010)+1 种基金China Postdoctoral Science Foundation Funded Project(No.2016M591033)Beijing Postdoctoral Research Foundation(No.2015ZZ-13)
文摘Axial stiffness of ball screws has great effects on accuracy of positioning,dynamic characteristic and transmission efficiency. Axial contact stiffness modeling of ball screws is the key problem in dynamic analysis of ball screws. Aiming at obtaining axial stiffness of ball screws considering microscopic fractal characteristics of contact surfaces,a new analytical method is proposed to estimate axial contact stiffness of ball screws and combine the minimum excess principle with Mandelbort( MB)fractal theory in this research. The minimum excess principle is employed to conduct normal stress analysis. And the Mandelbort fractal theory is adopted to obtain contact stiffness in ball screws. The effectiveness of the proposed method is validated by the self-designed experiment. The comparison between theoretical results and experimental results demonstrates that axial contact stiffness of ball screws could be obtained by the proposed method.
基金Project(2006AA04Z228) supported by the National High Technology Research and Development Program of China
文摘In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.
