滚动关节轴承摩擦力矩检测装置设计及运动分析  

Design and Motion Analysis of Friction Torque Measuring Device for Rolling Joint Bearings

作　　者：季晔[1] 宗晓明 高飞[3,4,5] 权思佳[3,4,5] 卢阳 JI Ye;ZONG Xiaoming;GAO Fei;QUAN Sijia;LU Yang(Luoyang Institute of Science and Technology, Luoyang471023,China;AVIC Jonhon Optronic Technology Co., Ltd.,Luoyang 471003, China;Luoyang Bearing Research Institute Co., Ltd., Luoyang 471039,China;Henan University of Science and Technology, Luoyang 471023, China;National United Engineering Laboratory for Advanced Bearing Tribology, Luoyang 471003, China)

机构地区：[1]洛阳理工学院,河南洛阳471023 [2]中航光电科技股份有限公司,河南洛阳471003 [3]洛阳轴承研究所有限公司,河南洛阳471039 [4]河南科技大学,河南洛阳471003 [5]高端轴承摩擦学技术与应用国家地方联合工程实验室,河南洛阳471003

出　　处：《轴承》2021年第8期47-53,共7页Bearing

基　　金：高端轴承摩擦学技术与应用国家地方联合工程实验室开放基金项目(202007)。

摘　　要：设计了滚动关节轴承摩擦力矩检测装置,该装置包括移动平台和具有3个转动自由度的并联机构,其中并联机构由3条结构相同的SRRR驱动支链和1条从动S支链组成。根据几何学和机构学原理建立了并联机构各杆件空间位置关系,得到机构输入、输出位姿,速度和加速度关系;根据机构尺度参数计算机构运动平台姿态角运动范围;通过改进粒子群优化算法与迭代法相结合的方法建立了位置正解适应度函数,得到机构高精度位置正解;给定任一路径用于摩擦力矩检测,得到了输入角运动学参数变化规律。分析结果表明该机构适用于滚动关节轴承摩擦力矩的检测。A device which includes a moving platform and a parallel mechanism with three rotational degrees of freedom is designed for measurement of friction torque of rolling joint bearings.The parallel mechanism is composed of three SRRR-driving-limbs with same structure and one S-driven-limb.According to geometry and mechanics theory,the spatial position relation of every limb of parallel mechanism is built,and the posture,velocity and acceleration on input and output of mechanism are obtained.Given the scale parameters of mechanism,the motion range of attitude angles about motion platform of mechanism is calculated.By combining improved particle swarm optimization(PSO)algorithm with iterative method,the fitness function of forward position solutions is established,and the high precision forward position solutions of mechanism are obtained.Given any path for friction torque measurement,the variation law of input angular kinematics parameters is obtained.The analysis results show that the mechanism is suitable for measurement of friction torque of rolling joint bearing.

关 键 词：滚动轴承 关节轴承 摩擦力矩 并联机构 运动学 自由度 检测 

分 类 号：TH133.33[机械工程—机械制造及自动化] TH112