空间机器人关节高转速下摩擦行为试验研究  

Investigation on Friction Torque Behavior in Space Robot Drive Assembly at High Rotating Speed

作　　者：孙康 王耀兵[1,2] 倪文成 周轶丁 牛福亮 郝宏 SUN Kang;WANG Yaobing;NI Wengcheng;ZHOU Yiding;NIU Fuliang;HAO Hong(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing 100094,China;Lanzhou Institute of Physics,Lanzhou 730000,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094 [2]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 [3]兰州空间技术物理研究所,兰州730000

出　　处：《载人航天》2024年第6期791-797,共7页Manned Spaceflight

基　　金：国家自然科学基金项目(U22B2080)。

摘　　要：针对典型基于谐波减速器的空间机器人关节,研究其在高低温真空环境下高速正驱和反驱摩擦行为。关节采用XBS-60-120双圆弧齿形谐波减速器,柔性轴承及齿面采用DLC+LW-YZ-5空间润滑脂,试验温度覆盖-40℃至+120℃,电机端转速提高至2520 r/min。试验结果表明:正驱模式下,关节内部摩擦阻力矩随温度的逐渐降低而显著增加,且输出端载荷越大,摩擦阻力越大,但效率提升也较为明显。输出端速度越高,摩擦力矩越大,效率呈下降趋势;反驱模式下,关节摩擦阻力同样随温度的降低而显著增加,且相同输出端载荷和转速情况下,反驱模式的传动效率显著低于正驱模式。The friction torque behavior of drive assembly with harmonic drive(HD)at high and low temperature vacuum environment was investigated in this paper.Experimental setup was developed base on vacuum test equipment with drive assembly,XBS-60-120 HD was adopted as the reducer,and DLC+LWYZ-5 space lubricating grease was used in the flexible bearing and tooth surface.The temperature varied from-40℃to+120℃,and the rotating speed of the motor was elevated to 2520 r/min.The active output drive torque of the drive assembly varied under its maximum torque at every temperature in a particular rule.Torque sensor was equipped to measure the back driving torque,and the active output drive torque was calculated by current and torque-current coefficients of the motor.The experiment results showed that back driving torque increased with the decrease of temperature and increased in driving torque.

关 键 词：谐波减速器 高转速 摩擦行为 空间机器人 

分 类 号：V416.2[航空宇航科学与技术—航空宇航推进理论与工程]