星球车锥齿轮式差速机构低温传动适应性设计  

Low Temperature Transmission Adaptability Design of Bevel Gear Type Differential Mechanism in Planet Rover

作　　者：赵志军[1] 林云成[1] 袁宝峰[1] ZHAO Zhijun;LIN Yuncheng;YUAN Baofeng(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部,空间智能机器人系统技术与应用北京市重点实验室,北京100094

出　　处：《航天器工程》2022年第4期39-45,共7页Spacecraft Engineering

基　　金：国家科技重大专项。

摘　　要：针对星球车锥齿轮式差速机构在高低温差大的星球表面工作时低温易卡滞难题,对锥齿轮式差速机构低温传动适应性进行设计,建立基于温度的传动回差估算数学模型,并对锥齿轮式差速机构传动回差与传动轴设计参数之间的数学关系进行研究。研制祝融号火星车差速机构工程样机,通过试验测试与理论分析对比的方法对传动回差估算数学模型的正确性进行验证。同时,对利用回差估算数学模型确定的差速机构回差低温传动适应性进行试验测试,结果表明:该差速机构低温传动平稳无卡滞,启动力矩与常温时接近,低温传动适应性良好。Aiming at the problem that the BGTDM(bevel gear type differential mechanism)in planet rover is easy to bind at low temperature on the planet with a large temperature difference,the transmission adaptability of the BGTDM at low temperature is designed.Backlash estimation mathematical model of the BGTDM based on the temperature is established.The mathematical relationship between the backlash of the BGTDM and the design parameters of transmission shafting is studied.A prototype of differential mechanism in the Zhurong Mars rover is developed.The correctness of the backlash estimation mathematical model is verified by comparing the test and the theoretical analysis.At the same time,low temperature transmission adaptability of the backlash determined by the estimation mathematical model is tested.The test results show that the transmission is stable without binding and the starting torque is close to that at room temperature,and the low temperature transmission adaptability is good.

关 键 词：星球车 差速机构 低温传动适应性 祝融号火星车 

分 类 号：V476[航空宇航科学与技术—飞行器设计]