【摘要】 针对空间机器人可能出现的失电失控问题,设计了一种新型双面摩擦弹簧电磁制动器。该制动器结合了ERA制动器和汽车盘式制动器的优点,相比普通弹簧摩擦制动器,该制动器在相同制动压力下可提供双倍制动力矩。利用有限元法分析了制动器电磁场的静态和动态特性,验证了制动器制动性能。通过对该制动器在真空高低温环境下进行多次制动实验,得到其制动力矩随制动次数变化的关系。根据实验前后摩擦副中各摩擦表面磨损状况的对比分析,找到了制动力矩改变的原因。为了使制动器稳定工作,提出了进行钛合金制动片表面处理以及在安装之前对制动器进行充分跑合的改进措施。更多还原

【Abstract】 In view of to the potential problems of electrical loss and control loss of space robots, a novel spring electromagnetic brake with double friction surface was designed. The brake has both advantages of the European robotic arm (ERA) brake and the vehicle disc brake, thus it can provide double torque with the same brake force compared with normal spring brakes. The brake’s performance was verified through analyzing the static and dynamic characteristics of its electromagnetic field by using the finite element method. The curve of braking torque versus braking times was gained by several vacuum experiments at different temperature. The reasons of brake torque changing were obtained by analyzing the friction surface status before and after experiment comparatively. The methods of surface treating of brake plate with TC4 and running-in adequately before assembling were presented to improve the stable work of brake.更多还原