超环面机电传动的转矩波动特性分析  

Analysis on Torque Ripple Characteristics for Toroidal Electromechanical Drive

作　　者：刘欣[1] 汪洋洋 Liu Xin;Wang Yangyang(Tianjin Key Laboratory of Advanced Machatronics Equipment Technology, Tianjin Polytechnic University, Tianjin 300387, Chin)

机构地区：[1]天津工业大学天津市现代机电装备技术重点实验室,天津300387

出　　处：《机械科学与技术》2018年第6期867-872,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51207107)资助

摘　　要：超环面机电传动是一种有机结合电磁驱动和减速机构的空间机电传动,在机器人和航空航天等要求结构紧凑的领域具有很好的应用前景。在对该机电传动结构特点及驱动机理进行分析的基础上,对单个行星齿输出转矩进行了解析计算。通过对内外定子与行星轮的电磁啮合关系进行分析,讨论了行星轮齿数和蜗杆包角等结构参数对输出转矩的影响,推导出多齿参与啮合的输出转矩解析关系,对输出转矩的波动性做了分析计算。The toroidal electromechanical drive is a kind of space mechanical and electrical drive with the combination of electromagnetic drive and retarding mechanism. It has a good application prospect in the field of robotics and aerospace. Based on the analysis of the structure characteristics and driving mechanism,the output torque of the single planet tooth is analytically calculated. Based on the analysis of the electromagnetic meshing relation between the internal stator and external stator and the planetary gear,the influence of the structural parameters such as the number of planet tooth and the worm wrap angle on the output torque is discussed. The analytical relationship among the output torque of multi tooth engagement is deduced. The fluctuation of the output torque is analyzed and calculated.

关 键 词：超环面机电传动 驱动机理 蜗杆包角 多齿啮合 转矩波动 

分 类 号：TH132[机械工程—机械制造及自动化]