基于动态特性的二齿差摆杆活齿参数设计研究  

Parameter design of movable teeth of two-tooth difference pendulum based on dynamic characteristics

作　　者：宜亚丽[1] 郭争辉 卫锐 高云飞 金贺荣[1,2] YI Yali;GUO Zhenghui;WEI Rui;GAO Yunfei;JIN Herong(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004

出　　处：《振动与冲击》2021年第11期252-261,共10页Journal of Vibration and Shock

基　　金：国家自然科学基金(51605416)。

摘　　要：为减小二齿差摆杆活齿稳态响应幅值,从而降低啮合副动载荷并提高传动系统运转平稳性,基于活齿传动系统动态特性分析提出二齿差摆杆活齿参数设计方法。建立活齿传动力学模型,求得啮合副时变啮合刚度,推导出当量啮合刚度,结合系统动力学分析模型,计算系统各子构件稳态振动响应。以系统传动平稳性和啮合副动载系数建立构件动态性能评价函数,按照子构件在系统中的加权建立系统动态性能评价目标函数,通过对目标函数评估从而得到具有良好动态性能的设计参数。对3组设计参数虚拟样机进行谐响应仿真分析,仿真结果表明,基于动态特性分析确定设计参数的虚拟样机扫频振幅最小,研究结果可对提升活齿传动系统动态性提供技术参考。Here,in order to reduce steady-state response amplitude of movable teeth of a two-tooth difference pendulum bar,and reduce dynamic load of meshing pair and improve running stability of transmission system,a parameter design method for movable teeth of the two-tooth difference pendulum bar was proposed based on dynamic characteristics analysis of movable teeth transmission system.The dynamic model for movable teeth transmission was established to solve and obtain time-varying meshing stiffness of meshing pair,and derive the equivalent meshing stiffness.Combining with the system dynamic analysis model,the steady-state vibration response of each sub-component of the system was calculated.The evaluation function of component dynamic performance was established based on the system transmission stability and dynamic load coefficient of meshing pair.The objective function of system dynamic performance evaluation was established according to weights of sub-components in the system.Through evaluating the objective function,design parameters with good dynamic performance were obtained.The harmonic response simulation analysis for the virtual prototype with 3 groups of design parameters was performed.The simulation results showed that the sweep amplitude of the virtual prototype with the design parameters determined based on dynamic characteristics analysis is the minimum;the study results can provide a technical reference for improving dynamic performance of movable teeth transmission system.

关 键 词：摆杆活齿 稳态响应 目标函数 谐响应 

分 类 号：TH132.4[机械工程—机械制造及自动化]