高阶复合摆线齿轮精密行星传动研究

Industrial robots have been widely applied into many important fields of automobile, medical equipment, aerospace and shipbuilding, etc. As the core component of industrial robots, robot joint reducers are critical for robots running safely and precisely. However, the robot joint reducers of our country are relying on import in long-time, and industrial structure upgrading and industrialization of our industry robots are restricted by these disadvantages. In the applying research project, on the basis of conjugate meshing theory analysis of high-order cycloid gear, the novel planetary precision transmission scheme and structure are presented to meet the performance requirements of industrial robot joint reducer. The high-order cycloid curve is formed with the movement rule of multilink, and conjugate transmission conditions of high-order cycloid gear.transmission are obtained in terms of gear engagement principle. The precise planetary transmission scheme of high-order cycloid gear is come forward by applying transmission theories of power dividing and small teeth difference. The analysis, evaluation and control approach are developed using coupling analysis of non-linear dynamics under multiple error excitations. Taking into consideration of many factors including high-order cycloid drive characteristic, bearing life prediction, planetary structural characteristics, transmission accuracy and efficiency, etc., the multi-objective optimization of high-order cycloid planetary gear for precise transmission is realized. Therefore, the design theory and method of high-order cycloid gear and its precise planetary transmission can be achieved. This research project not only has the importantly theoretical and scientific values, but also has remarkably societal and economic significances.

工业机器人在汽车、医疗、航空航天及船舶等领域应用广泛，关节减速器作为工业机器人的核心部件，是保证机器人运行安全和精度的关键。目前，我国关节减速器长期依赖进口，制约着工业机器人行业的转型升级及产业化。本申请课题拟在分析高阶复合摆线齿廓共轭啮合理论的基础上，提出新型高阶摆线齿轮精密行星传动方案和结构，满足关节减速器的性能要求。通过多连杆运动规律形成高阶摆线，基于齿轮啮合原理得到高阶摆线齿轮传动共轭条件；采用功率分流和少齿差传动理论，提出高阶摆线齿轮精密行星传动方案；利用多源误差激励下非线性动力学耦合分析方法，建立动态传动精度的分析、评价与控制理论；综合考虑高阶摆线齿轮传动的啮合特性、轴承寿命、传动精度和传动效率，实现高阶摆线齿轮精密行星传动的多目标优化。由此形成高阶摆线精密行星传动机构的设计理论与方法。该研究既有重要的理论意义和学术价值，又有重要的社会和学术价值，又有重要的社会和经济效益。

本课题基于摆线成形原理，提出了摆线的等效连杆机构转化方法，并引入阶数概念，提出了一阶摆线、广义n阶摆线、n阶外摆线、n阶内摆线、复合摆线等多种新型摆线形式；基于微分几何及共轭啮合理论，研究了高阶摆线作为外齿轮、少齿差内齿廓曲线需满足的几何关系，推导了高阶摆线齿轮传动的共轭条件及齿廓方程，研究了高阶摆线齿廓的成形参数对啮合特性的影响规律，建立了新型高阶摆线齿轮传动的啮合理论；在此基础上，提出了复合摆线外啮合圆柱齿轮副和复合摆线内齿型少齿差行星齿轮副，设计了多种复合摆线齿轮精密行星传动方案；考虑时变啮合刚度/啮合阻尼/综合啮合误差、轴承刚度/阻尼/间隙、零件加工误差/装配误差/弹性变形等因素，建立了多源误差激励下复合摆线齿轮精密行星传动系统的柔性多体动力学模型，研究了各单项误差和多误差综合作用下传动系统动态传动误差的变化规律，提出了合理的误差分配与控制方法；综合考虑齿轮传动的啮合特性、轴承寿命、传动效率和结构限制，实现了复合摆线齿轮少齿差行星传动的多目标优化；针对新型复合摆线齿轮的加工问题，提出了一种基于渐开线插齿刀具运动控制的复合摆线齿轮加工方法，避免了专用刀具的设计和制造，提高了加工柔性，降低了生产成本，为复合摆线齿轮的工程应用奠定了基础；开展了复合摆线齿轮传动效率和传动精度实验研究，验证了复合摆线齿轮基本啮合原理的正确性、传动方案的合理性，为复合摆线齿轮减速器的设计及工程应用提供实验基础。该研究既有重要的理论意义和学术价值，又有重要的社会和经济效益前景。

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