谐波减速器动力学特性与建模研究进展  

Advances in Researches of Dynamic Characteristics and Models in Harmonic Drive System

作　　者：张猛[1] 熊宇聪 祝晓丽[1] 梁骄雁[1] 郭超勇[1] 唐艺伟 肖曦[2] ZHANG Meng;XIONG Yucong;ZHU Xiaoli;LIANG Jiaoyan;GUO Chaoyong;TANG Yiwei;XIAO Xi(Beijing Institute of Control Engineering,Beijing 100094,China;Department of Electrical Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]清华大学电机系,北京100084

出　　处：《空间控制技术与应用》2023年第6期1-16,共16页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(51977008)。

摘　　要：谐波减速器具有相对质量低、结构紧和价格低廉等优点,广泛应用于空间机械臂关节设计.然而,谐波减速器的运动误差、刚度和摩擦3种动力学特性阻碍了空间机械臂关节指向精度、运动稳定度等性能指标的提升.为改善空间机械臂关节性能,国内外学者针对谐波减速器的运动误差、刚度和摩擦3种动力学特性开展了试验研究和机理分析,并建立了数学模型.本文从试验、机理和建模3个角度出发,系统论述关于谐波减速器的运动误差、刚度和摩擦3种动力学特性的最新研究成果,总结分析谐波减速器动力学特性和建模研究所面临的挑战以及未来发展的方向.Harmonic drive systems are widely used in joints of space manipulators because of their low relative quality,compact structure and low costs.However,dynamic characteristics,including kinematic error,stiffness,and friction of harmonic drive systems,hinder the performance improvements of space manipulators,such as pointing accuracy and stability.To overcome this problem,scholars research the experiments,analyses and models on the dynamic characteristics of harmonic drive systems.This paper reviews studies about kinematic error,stiffness and friction.Some research topics are presented.

关 键 词：谐波减速器 运动误差 非线性刚度 非线性摩擦 动力学建模 

分 类 号：TH113[机械工程—机械设计及理论]