空间机械臂用多级2K-H行星传动系统模块化动力学研究  

Modular Dynamic Research on Multi-Stage Planetary Gear System

作　　者：刘明[1] 赵永强[1] 徐冬梅[1] 李瑰贤[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《西北工业大学学报》2014年第4期606-611,共6页Journal of Northwestern Polytechnical University

基　　金：中央高校基本科研业务费专项资金(HIT.NSRIF.2012035);教育部博士点基金(20112302120056)资助

摘　　要：多级行星传动系统的动力学研究多采用整体式建模方法,此种方法不便于通过动态性能分析快速选取传动方案,而且模型不具有通用性,传动形式改变,需要重建系统动力学模型。为克服整体式建模方法的缺点,提出了模块化思想,将多级行星传动系统划分为4个分级子模块,综合考虑啮合刚度、阻尼和行星轮支撑刚度等因素,建立了各级子模块的动力学模型,通过各级模块的集成,得到了多级行星传动系统非线性动力学方程。以空间机械臂关节用多级行星传动系统为例,通过调用各级模块,形成4级行星传动系统动力学微分方程组,对其进行数值求解,得到了系统的时域及频域响应特性。通过与整体式建模方法所得响应结果进行对比,验证了模块化建模方法的同一性和有效性。The integral modeling method is usually used in dynamic research of multi-stage planetary gear system. But it is not convenient for the analysis of dynamic performance and for the selection of transmission scheme. The dynamic model has to be rebuilt when the transmission scheme is changed. So based on the modular method, four general modules are established with meshing stiffness, damping, friction, backlash and bearing supporting stiffness of planets considered. Then the nonlinear dynamical differential equations of multi-stage planetary gear trains are generated automatically by calling in the four modules. According to the modular method, the dynamic characteris-tics of the four-stage planetary gear train used in space manipulator are analyzed. In order to verify the applicability and availability of the modularly designed model, the calculation results of the modularly designed model and those of the integrally designed model are compared.

关 键 词：多级行星传动 模块化 动力学响应 

分 类 号：TH132.41[机械工程—机械制造及自动化]