【作者】 张东生；

【导师】 关天民；

【作者基本信息】 大连铁道学院 ， 机械设计及理论， 2004， 硕士

【摘要】 FA传动减速器是当今世界上最新发展的传动装置，较机器人常用的谐波传动有较高的疲劳强度、刚度和寿命，而且回差精度高；因此该种FA减速机除了普通传动中的高承载应用以外，在工业机器人传动中正在得到越来越多的应用。 由于摆线轮与针轮在啮合传动过程中是多齿啮合，因此，摆线轮与各针齿之间的载荷分布较复杂。它除了受接触变形影响外，还受制造误差、啮合间隙等影响。为了便于分析受力，传统齿形简化FA针摆传动模型：不考虑摩擦因素、假定在摆线轮最大力臂处产生最大变形等，而实际上摩擦一定存在、在线轮最大力臂处未必有针齿存在。基于以上假设，受力分析方法的准确性有待于进一步验证。 本文在研究接触问题的基础上，采用国际上通用的非线性有限元分析软件MSC．MARC建立了摆线轮与各受力齿接触计算模型，首次对针齿与摆线轮齿面接触状态进行静态有限元分析，得出了摆线轮与针齿之间的接触状态，结果证实了FA针摆传动针齿摆线轮啮合受力分析方法的正确性。 摆线轮的齿形修形方式不外乎有等距修形、移距修形和转角修形三种基本修形法的组合，如何利用这些基本修形方法的优化组合加工摆线轮，分别实现高承载能力或高精传动的要求，是本文要解决的重要问题。 对无特殊要求的一般动力传动用FA摆线针轮行星减速器，可利用优化设计理论推导出“正等距+负移距”修形方法，获得受力状况最佳的反弓齿廓；受力分析结果表明：反弓齿廓的受力状态最佳。 上述这种优化修形方法对于高精传动FA摆线针轮啮合却不能尽满人意。因为，它虽然可获得多齿啮合，但难以实现间隙回差小的要求，该方法在保证所需径向间隙条件下，不仅不可能减少由其它零件配合间隙索性超过需要的侧隙，同时还会增加新的侧隙。本文引用文献对摆线针轮高精传动修形方法研究成果，通过“负等距+正移距”优化修形可以求出满足预定回转角时的修形量。 回差是指输入轴反向转动时，输出轴在运动上滞后于输入轴的现象。回差的存在将使摆线针轮行星传动中的输入轴反转时，输入轴与输出轴短时间内失去运动联系，造成输出的突然中断，从而使运动传递关系成为非线性。 机器人装置的一个最重要的性能指标是必须具有高的运动和位置精度，这样大连铁道学院工学硕士学位论文才能使机器人的工作机构精确地达到预定的位置。由于FA减速器常用于高精传动中，因此，该方面的研究是非常重要的。本文主要从传动链尺寸误差入手定量分析各项误差因素对FA传动回差的影响，并建立计算回差的数学模型。更多还原

【Abstract】 FA cycloid drive is uptodate transmission device in the world today. It is of higher fatigue intensity, higher rigidity, longer longevity and higher slewing precision than syntony wave reducer which was often used in the robot before, thus this kind of drive will be more and more used in industry robots besides general driver with high carrying capacity.Because there are many teeth gearing during transmission,distribution of load between cyloid and teeth is most complex.Distribution is affected not only by contact distortion,but also by manufacture error and gearing clearance.In order to analyze force easily,we simplify the model of FA cyloid,taking no account of friction,supposing that there is the maximum of distortion in the largest arm of force,but in fact,friction must be exist and there is not always needle tooth in the largest arm of force.One the basis of above-mentioned assumption,the veracity of force analysis method should be verified farther.Based on research in contact, the caculation model of contact between cycloid disk and needle teeth has been built in virtue of internationally general non-linear finite element software-MS CM ARC in the paper, and the contact is simulated numerically on the first time. And we gain the state of contact between cycloid disk and needle teeth by MSC.MARC.The result has proved the force analysis method correct.There are always only combinations of three kinds of basic teeth profile modification - equidistant modification, radial-moving modification and slewing modification.This is most important problem to be solved in this paper how to respectively meet the demand of high carrying capacity or high drivinng precision by manufacturing cycloid with combination optimization of those basic modifican methods.As for FA cycloid driver used in general transmission without special demands,we can adopt the theory of optimization design to deduce themodification method ’ plus equidistant + minus radial-moving ’. As a result, the Inverse Arch-shaped Teeth profile is obtained in which forcing condition of driving is the best.The results of calculation about the various modification methods show that contacting force of the Inverse Arch-shaped Teeth profile is obviously better than the other modification method.Above optimization modification method doesn’t meet the demand of FA cycloid driver used in high drivinng precision transmission,because it is difficault to get little Slewing error though we can make little more teeth clench in this way,and it is not only impossible to lessen excess clearance in circumstance caused by fitting clearance of other parts,but also possible to broaden new clearance.The reaserch achievement[2] is quoted in this paper,which discusses modification method of cycloid used in high drivinng precision transmission in detail.We can optimize modification of teeth profile to meeting anticipant slewing angle through ’plus equidistant + minus radial-moving’.Slewing error is one phenomena that output shaft lag behind input shaft when overturning, which will make turnning relations losted for short time during running and output interrupted suddenly, thus make turnning relations become non-linear.It is one most important performance target to be of high running and position precision for robot, which makes working components of robot arrive the expected location accurately. Such research is absolutely necessary because FA cycloid drive is offen applied in high precision transmission. Analysis of slewing errors angle is proceeded with measurement error of the drive chain and every effect of errors factor on slewing error is quantitatively analyzed in the paper. And the numeric moel of caculating slewing error angle is established.更多还原