摆线传动系统摆线轮故障动力学特性研究  

Dynamic characteristics of cycloidal gear fault in cycloidal transmission system

作　　者：易相宏 牛蔺楷 熊晓燕[1] YI Xianghong;NIU Linkai;XIONG Xiaoyan(School of Mechanical Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械工程学院,山西太原030024

出　　处：《机电工程》2025年第3期407-419,共13页Journal of Mechanical & Electrical Engineering

基　　金：山西省基础研究计划项目(202203021221092)。

摘　　要：摆线传动系统是现代精密机械关键传动形式之一,其故障对设备的可靠性和精密性都有重要影响。为探究摆线轮故障对摆线传动系统产生何种影响,基于多体动力学方法以及动力学模型,对摆线轮剥落故障下摆线传动系统的接触力及非线性动力学特性进行了研究。首先,综合考虑了材料属性、接触刚度、碰撞阻尼等因素,应用SolidWorks建立了系统三维模型,在摆线轮上切除了特定深度和宽度的缺陷,以模拟实际工况下摆线轮的剥落故障,并使用RecurDyn建立了多体动力学仿真模型;然后,对正常和剥落故障时的摆线针轮接触力进行了分析;最后,基于摆线轮故障模型,建立了三自由度故障系统动力学模型,根据理论分析结合数值仿真分析了不同参数对系统动力学行为的影响。研究结果表明:不同程度的摆线轮轮齿边缘剥落故障对周期分布应力峰值大小的影响存在差异,但均会导致新的、明显的应力峰值;摆线轮轮齿根部剥落损伤导致针轮出现新的应力峰值,同时会使摆线轮均布应力峰值增大,针轮均布应力峰值减小;当摆线轮无故障时,随着外激励频率的增加,系统的Poincaré截面均为稳定的不动点;而当摆线轮存在深度为1×10^(-5) mm的剥落故障时,随着外激励频率的增加,系统的相轨迹转变为不变环面,其Poincaré截面由稳定不动点逐渐失稳并分岔出一个稳定的不变圈;此外,碰撞阻尼的增加会使Poincaré截面上的稳定不变圈逐渐失去稳定性,最终破裂并转变为混沌吸引子。该研究不仅可为摆线传动系统的故障诊断和状态监控提供理论依据,还可为系统的优化设计提供参考。The cycloidal transmission system is one of the key transmission forms in modern precision machinery,and its faults significantly impact the reliability and precision of equipment.To investigate the impact of cycloidal gear faults on cycloidal transmission systems,based on multibody dynamics methods and dynamic models,a study was conducted on the contact forces and nonlinear dynamic characteristics of the cycloidal drive system under cycloidal wheel spalling faults.Firstly,considering factors such as material properties,contact stiffness,and collision damping,a three-dimensional model of the system was established using SolidWorks.Defects of specific depth and width were simulated on the cycloidal wheel to replicate actual working conditions,and a multibody dynamics simulation model was created using RecurDyn.Then,the contact forces of the cycloidal needle wheel were analyzed under both normal and spalling fault conditions.Finally,based on the cycloidal wheel fault model,a three-degree-of-freedom dynamic model of the faulty system was established.The influence of different parameters on the system s dynamic behavior was analyzed through theoretical analysis combined with numerical simulations.The research results indicate that different degrees of edge spalling faults on the cycloidal wheel teeth affect the magnitude of periodic distribution stress peaks differently,but all lead to the emergence of new,significant stress peaks.The spalling damage at the root of the cycloidal wheel teeth results in the emergence of new stress peaks on the needle wheel while simultaneously increasing the uniform stress peaks on the cycloidal wheel and decreasing those on the needle wheel.When the cycloidal wheel is fault-free,the Poincarésection of the system remains stable fixed points as the external excitation frequency increases.However,when a spalling fault with a depth of 1×10^(-5)mm occurs on the cycloidal wheel,the system s phase trajectory transitions to an invariant torus,and its Poincarésection gradually becomes unsta

关 键 词：机械传动 摆线传动系统 剥落故障 非线性动力学 RecurDyn仿真 摆线针轮接触力 旋转矢量减速器 

分 类 号：TH132.4[机械工程—机械制造及自动化]