基于柔性机构的微齿少齿差驱动的设计方法与性能研究

As the requests of actuators’ performance for High-tech electromechanical products are getting higher continually, such as small volume, high output power, light quality, high efficiency, high response speed, high precision, etc. New types of novel actuators are in urgent need of invent and development. In this application, a new type of actuator, micro-teeth actuator, will be investigated. In this integrated actuator, small tooth number difference gear is driven by intelligent material, and compliant mechanism is adopted to maintain the outer-ring translation. Small reciprocating motion then is converted to continually rotation. Using intelligent drive material, this actuator mode has several advantages, such as fast response, high energy density ratio, etc. And it can also avoid some disadvantages existing in the ultrasonic motor because of adopting friction drive mechanisms, such as low torque, low efficiency, and short service life. It’s suitable for manufacturing new actuators with high torque, low speed, and high precision. This can be a supplementary for ultrasonic motor. In this project, the design and manufacture methods of micro teeth will be explored. And the methods of configuration synthesis, performance analysis and optimization will be studied. Consequently, new types of available actuator can be invented. The design rules and computing method for them can be proposed. At last the developed prototypes will be tested and evaluated by experiments. The achievements from this project will pose a positive significance in enriching the current design theory of modern mechanisms, as well as guiding the creative design of actuator, gear mechanism and compliant mechanisms. The results will be used in a variety of applications, such as robot joints, aircraft steering gear and so on, to solve practical problems in the development of national economy.

高尖端机械产品对于驱动器性能的要求不断提升，如小体积、大输出、轻质量、高效率、快响应、高精度等，新型驱动器的研究和发展成为必然。本申请将研究一类由智能材料驱动、柔性机构支撑、微小齿形的少齿差机构进行运动转换的新型一体化驱动方式——微齿少齿差驱动。这类驱动方式既可以利用智能驱动材料快速响应、高能量密度比等优点，同时又能避免如超声电机中摩擦传动产生的扭矩低、效率低、寿命短等不利因素，适用于制造大扭矩、低转速、高精度的新型驱动器，与超声电机等形成互补。本项目将探索微齿驱动器中微齿齿形设计加工方法、柔性转动约束机构及整体结构的构型综合方法、性能分析与优化等问题。最终提出多种可用新型驱动器结构，给出设计规律和计算方法，并研制多台样机进行实验验证。项目的研究对丰富现代机构学理论，指导驱动器、齿轮及柔性机构的创新设计具有积极意义。成果可用于机器人关节、航空器舵机等多种场合，解决国民经济发展中的切实问题。

高尖端机械产品对于驱动器性能的要求不断提升，如小体积、大输出、轻质量、高效率、快响应、高精度等，新型驱动器的研究和发展成为必然。项目研究一类由智能材料驱动、柔性机构支撑、微小齿形的少齿差机构进行运动转换的新型一体化驱动方式——微齿少齿差驱动。研究主要工作包括通过对少齿差减速器齿轮齿形的研究，给出了大传动比的一齿差微齿传动齿形；提出了内啮合少齿差齿轮轮齿柔性化的概念，验证了其在一定齿数范围内可以提高减速器的承载能力；并对高负载下的柔性保持机构进行构型及性能研究，分析轴向力对柔性保持机构的影响；样机试制并基于数字散斑相关方法（Digital Speckle Correlation，DSC）搭建性能测试平台对柔性齿的微小变形进行分析研究等。成果可用于机器人关节、航空器舵机等多种场合，解决国民经济发展中的切实问题.

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