【作者】 梁永丽；

【导师】 许立忠；

【作者基本信息】 燕山大学 ， 机械设计及理论， 2015， 博士

【摘要】 机电集成电磁谐波活齿传动系统集传动、驱动和控制于一体,可以实现谐波传动技术、电磁驱动技术、活齿传动技术和控制技术的有机结合,是一种新型机电集成广义复合传动装置。该传动系统中没有高速旋转的部件,惯性力小,可以获得更快的响应速度,能够实现大减速比运动传递和低速大扭矩的动力输出。本文运用电磁学原理研究了气隙磁场随柔轮变形的变化规律,引入气隙形状因子,针对磁路饱和及未饱和两种情况分别给出了形状因子的计算公式,进行了等效气隙分析,给出了气隙磁通密度和柔轮单位面积上电磁力的计算公式。根据圆柱壳体非胀大变形理论,将电磁谐波活齿传动系统中的关键零件——柔轮简化为圆柱薄壳,建立了电磁力作用下柔轮的受力分析模型,推导出柔轮在电磁力作用下的位移表达式,揭示了柔轮位移随系统参数的变化规律。根据弹性力学原理,建立了电磁谐波活齿传动系统的受力分析模型,对传动过程中各零件的受力进行了分析,在此基础上推导出系统输出力矩公式,与摩擦式电磁谐波传动的输出力矩进行了对比,分析了系统参数对输出力矩的影响规律。结果表明:电磁谐波活齿传动系统的输出力矩大约是摩擦式电磁谐波传动的输出力矩的7倍。运用机械振动理论,建立了电磁谐波活齿传动系统的机电耦合动力学方程,推导出系统自由振动的频率方程和模态函数表达式,对径向激励和切向激励作用下系统的频响函数进行了求解,分析了机电参数对系统自由振动和受迫振动的影响规律。研究了电磁谐波活齿传动系统柔轮发生偏心时系统的振动特性。给出了系统偏心状态下的电磁力表达式,推导出偏心状态下传动系统中柔轮的模态函数公式,分析了系统机电参数变化对偏心柔轮的自由振动和受迫响应的影响规律,对有无偏心时柔轮的固有频率和振动模态进行了对比分析。完成了样机的参数设计、加工和振动特性测试。应用ANSYS Workbench有限元分析软件对传动系统中柔轮的变形和振动模态进行了仿真分析,对样机进行了固有频率测试,对比了仿真、实验和理论计算结果;仿真结果与理论值最大误差为10.18%,实验结果与理论值最大误差为16.57%;实验、仿真和理论值基本一致,验证了理论分析的正确性。更多还原

【Abstract】 Electromechanical integrated electromagnetic harmonic movable tooth drive system is a new electromechanical generalized complex transmission device which integrates drive, transmission and control, so the drive system realizes the fine combination of the harmonic drive, the electromagnetic drive, the movable tooth drive and the controller. There is no high-speed rotating components in the drive system, so its inertia is small, and the response is rapid. Thus, the high transmission ratio and the low-speed and high-torque power output can be obtained.Using electromagnetic principle, the changes of air-gap magnetic field with flexible gear deformation are studied. For two conditions of saturated and unsaturated magnetic circuits, the air-gap shape factor equations are given. In addition, the equivalent air-gap is analyzed, and the equations of air-gap flux density and electromagnetic force per unit area on flexible gear are presented.According to the non-swelling deformation theory of cylindrical shell, the key element of electromagnetic harmonic movable tooth drive system——flexible gear is simplified as cylindrical thin shell. Based on the geometry model, the force model of flexible gear under electromagnetic force is given, the displacement equation of the flexible gear under electromagnetic force is deduced, and the changes of the flexible gear displacement with system parameters are studied.Based on elastic mechanics theory, the force model of electromagnetic harmonic movable tooth drive system is established, the forces on each element in the system are analyzed. On this basis, the output torque equation is deduced. The comparison of the output torques between movable tooth type system and friction type system is done. The effects of the system parameters on the output torque is analyzed. Results show that the output torque of electromagnetic harmonic movable tooth drive is about 7 times of one of the friction type drive system.Using mechanical vibration theory, the electromechanical coupled dynamics equation of electromagnetic harmonic movable tooth drive system is deduced, the frequency equation and modal function of the free vibration are deduced. Based on the above equations, the frequency response functions of the drive system under radial and tangential excitation are solved. The influences of the electromechanical parameters on free vibration and force vibration are studied.The dynamic characteristics of the electromagnetic harmonic movable tooth drive system with the eccentric flexible gear is studied. The electromagnetic force equation is given and the modal function is deduced for the drive system with eccentricity. The influences of the electromechanical parameters on free vibration and force vibration of the drive system with eccentricity are studied, and the comparison of natural frequencies and vibration modes of the drive system with or without eccentricity is done.The parameters design, machining and vibration test of the prototype are performed. Using the ANSYS Workbench finite element analysis software, the deformation and vibration modal simulation of flexible gear is conducted. The frequency test of the prototype is performed. Comparing the calculation results with simulation and measuring results, the maximum error between simulation results and the theoretical values is 10.18%, and the maximum error between experimental results and theoretical values is 16.57%. The results show that theoretical values are in agreement with the experiment and simulation, which verifies the correctness of theoretical analysis in this paper.更多还原