机器人用精密摆线传动啮合特性及回程间隙分析  

Analysis of Meshing Characteristic and Return Clearance of Precision Cycloid Transmission for Robot

作　　者：张立勇[1,2] 周红凯[1,2] 王长路[1,2] 乔雪涛[2] 

机构地区：[1]郑州高端装备与信息产业技术研究院有限公司,河南郑州450001 [2]郑州机械研究所,河南郑州450001

出　　处：《机械传动》2017年第3期50-53,共4页Journal of Mechanical Transmission

摘　　要：针对机器人用摆线行星减速器中的摆线传动,建立了基于啮合原理和动态多齿啮合特性的受力和回程间隙分析模型。通过迭代求解得到了不同修形方式对啮合齿数、各啮合齿受力和回程间隙的影响。进一步分析了载荷对啮合特性的影响,得到摆线传动的刚度随载荷增大的曲线,为摆线传动的设计及扭振分析提供了依据。Aiming at the cycloid transmission in the cycloid planetary gear speed reducer used for robot,the analysis model for return clearance and mesh force calculation of cycloid transmission is set based on gear meshing theory and dynamic multi teeth meshing property. The influence of different tooth modification methods on the number of meshing teeth,force and distortion of each mesh point and the return clearance of cycloid transmission is calculated through iterative method. Furthermore,the influence of the load on the meshing characteristic is analyzed,and the stiffness curve of the cycloid transmission is obtained with the increase of load. It provides basis for the design and torsional vibration analysis of cycloid transmission.

关 键 词：摆线传动 啮合特性 回程间隙 轮齿修形 

分 类 号：TH132.4[机械工程—机械制造及自动化]