空间关节弹性球形制动器结构优化设计  

Structural Optimization Design of Elastic Spherical Brake of Space Joint

作　　者：耿德旭[1] 孙国栋 刘齐[1] 刘洪波[1] 赵云伟 Geng Dexu;Sun Guodong;Liu Qi;Liu Hongbo;Zhao Yunwei(School of Mechanical Engineering,Beihua University,Jilin 132021,China)

机构地区：[1]北华大学机械工程学院

出　　处：《北华大学学报（自然科学版）》2019年第5期695-700,共6页Journal of Beihua University（Natural Science）

基　　金：吉林省科技厅重点科技研发项目(20180201050GX);北华大学研究生创新计划项目(北华研创合字[2018](008)，北华研创合字[2019](008))

摘　　要：为解决机器人手腕空间多方向制动问题,研究了一种气动弹性球形制动器.该制动器为常闭式结构,主要由球座、内弹性半球和气动柔性轴向驱动器等组成.根据设计要求,采用有限元方法确定球座与内弹性半球的合理过盈量.结果显示:当安全系数取1.3,球座与内弹性半球的合理过盈量为0.12 mm时,能够确保3 N·m的扭矩;采用正交法有限元仿真计算,分析了内弹性半球拉耳位置、开槽深度和拉力大小3个因素对球形制动器制动效果的影响.结果表明:最大位移随开槽深度的加大而提高,位移分离比随拉耳位置距离的增加而减小.最优的参数组合是拉耳位置距离10 mm,拉力15 N,开槽深度25 mm,此时球形制动器制动效果最佳.In order to solve the problem of multi-directional braking in the wrist space of robot,a kind of aero-elastic spherical brake was studied.The brake is a normally closed structure,which is mainly composed of a ball seat,an inner elastic hemisphere and a pneumatic flexible axial actuator and so on.According to the design requirements,the reasonable interference between the sphere seat and the inner elastic hemisphere is determined by the finite element method.The results show that 3 N·m torque can be ensured when the safety factor is 1.3 and the reasonable interference between the seat and the inner elastic hemisphere is 0.12 mm.In order to analyze the influence of three factors on the braking effect of spherical brake,such as the position of pulling ear in the inner elastic hemisphere,the depth of grooving and the size of pulling force,the finite element simulation calculation with orthogonal method was adopted.The results show that the maximum displacement increases with the increase of grooving depth,and the displacement separation ratio decreases with the increase of the distance between the ears.The optimal parameter combination is pulling lug position 10 mm,the pulling force 15 N,and the grooved depth 25 mm.At this time,the spherical brake has the best performance.

关 键 词：有限元法 球形制动器 结构优化 

分 类 号：TH113[机械工程—机械设计及理论]