一种冗余驱动用切换传动机构的轮系参数优化  

Gear train parameters optimization of switchable transmission mechanism for redundant drive

作　　者：陶建国[1] 李伟超[1] 刘荣强[1] 邓宗全[1] 

机构地区：[1]哈尔滨工业大学机电工程学院机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《机械设计与制造》2011年第6期89-91,共3页Machinery Design & Manufacture

基　　金：国家"863"计划(2008AA04Z202);高等学校学科创新引智计划(B07018)

摘　　要：航天用的空间展开机构要求其关节驱动系统具有较高的可靠性,采用冗余驱动是提高可靠性的有效措施。提出了二套驱动系统并联的单备份冗余驱动方案,设计了适于该冗余驱动方案的差动轮系式传动机构;为了减少切换传动机构的体积和质量,提高其运动平稳性,以体积最小和转动惯量最小为目标函数,建立了轮系参数的多目标优化模型,并利用线性加权和法对优化模型进行了简化处理,借助Matlab优化工具箱进行了实例优化计算,计算结果验证了优化模型和计算方法的有效性。It is known that joints of deployable mechanisms used in aerospace needs to be of highreli-ability,while redundant drive is an effective measure for increasing reliability.Therefore,the scheme with twosets of parallel connected drive systems in which one is used to be a backup system is proposed,meanwhilethe differential gear train transmission mechanism for the scheme is designed.In order to reduce the mass andsize of transmission mechanism and achieve robust motion,the multi-object optimization model with minimummass and minimum rotational inertia as target function for gear train mechanism is established,and then lin-ear weighted sum method is adopted to simplify the model.The effectiveness of the optimization model andcomputational method is verified by an optimization example with the help of Matlab optimization toolbox.

关 键 词：冗余驱动 差动轮系 多目标优化 Matlab 

分 类 号：TH132[机械工程—机械制造及自动化]