高性能变传动比的异形齿轮跳跃机构研究  

High-performance jumping mechanism of special-shaped gear with variable transmission ratio

作　　者：刘磊[1] 张岩 LIU Lei;ZHANG Yan(Department of Mechanical Engineering,Baotou Iron and Steel Vocational and Technical College,Baotou 014010,China;School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China)

机构地区：[1]包头钢铁职业技术学院机械工程系,内蒙古包头014010 [2]河北科技大学机械工程学院,河北石家庄050018

出　　处：《机电工程》2021年第9期1167-1173,共7页Journal of Mechanical & Electrical Engineering

基　　金：内蒙古自治区自然科学基金资助项目(NJZY19355)。

摘　　要：跳跃机器人需要根据其任务和运动来选择合适的齿轮传动比,从而实现电机功率的最大化,针对这一问题,提出了一种具有高速、大扭矩特性的异形齿轮跳跃机构。首先,提出了一种基于仿真的最佳齿轮传动比设计方法,使电机功率最大化;其次,根据得到的齿轮传动比,通过正向动力学进行了齿轮的节圆半径计算;然后,在考虑轮齿压力角约束的情况下完成了最终异形齿轮的齿形设计;最后,研究了跳跃高度随机器人参数和初始姿态扰动的变化,并以跳跃机构为原型,在考虑了机构物理参数扰动的情况下进行了实验测试,验证了所提设计方法的有效性。研究结果表明:该机构使用异形齿轮时的跳跃高度是0.135 m,使用圆形齿轮的跳跃高度是0.072 m;采用异形齿轮,通过运动改变齿轮传动比,可将跳跃高度提高64.6%,为提高跳跃机器人的工作性能提供较好的解决方案。Aiming at the problem that it is necessary for the jumping robot to choose the appropriate gear ratio according to its task and motion so as to maximize the motor power,a special-shaped gear jumping mechanism with high speed and large torque was proposed.Firstly,a design method of optimal gear ratio based on simulation was proposed to maximize motor power.Secondly,according to the obtained gear transmission ratio,the pitch radius of the gear was calculated by forward dynamics.Then,the tooth profile design of the final special-shaped gear was completed considering the constraint of gear tooth pressure angle.Finally,the variation of jumping height with robot parameters and initial attitude disturbance was also studied.Taking the jumping mechanism as a prototype,the experimental test was carried out considering the disturbance of physical parameters of the mechanism,and the effectiveness of the proposed design method was verified.The research results show that when using special gear,the jumping height of this mechanism is 0.135 m;when using circular gear,the jumping height of this mechanism is 0.072 m.The jumping height can be increased by 64.6%by using special-shaped gears to change the gear transmission ratio through movement,which provides a better solution for improving the working performance of the jumping robot.

关 键 词：跳跃机构 异形齿轮 电机功率最大化 变传动比 正向动力学 

分 类 号：TH132[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]