【作者】 张越；

【导师】 任玉波；

【作者基本信息】 燕山大学 ， 机械电子工程， 2016， 硕士

【摘要】 机电集成电磁谐波活齿传动系统是集电磁谐波驱动技术、谐波活齿传动技术和控制技术于一体的一种新概念广义复合传动系统。相对于其它传动系统而言,该结构没有高速旋转的机械部件,可以产生低速大扭矩的动力输出,具有结构简单,响应速度快,转动惯量小,传动效率高,便于实现控制等优点。作为一种新型传动型式,其理论研究方面尚不完善。本文从静力分析、参数化仿真、优化设计、疲劳寿命等方面对电磁谐波活齿传动系统进行了一系列系统深入的研究。针对传动中柔轮在磁场力作用下发生变形,导致气隙长度随时改变这一现象,引入等效因子,进行气隙磁场分析,得到柔轮单位面积上的电磁力表达式。基于圆柱薄壳理论和弹性力学原理,利用周向封闭条件下的位移函数,分析了电磁场力作用下的柔轮径向变形与应力,并给出计算表达式。在一端固定,一端自由的边界条件下,确定位移函数的待定系数。对电磁谐波活齿传动系统进行受力分析,给出了各主要零件间的接触应力和强度计算公式,推导出系统的传动效率计算方法,为电磁谐波活齿传动系统的优化设计奠定了基础。应用Visual Basic语言对电磁谐波活齿传动装置进行了仿真,分析了结构参数的改变对系统运行状态的影响,预判系统预设参数是否满足要求,方便结构参数的初始设定。对电磁谐波活齿传动系统的结构进行改进,并基于结构的预设参数,建立系统的三维模型。为了提高系统的传动效率并减小结构空间体积,本文对电磁谐波活齿传动系统进行了多目标模糊优化设计,得出最佳优化结果。并基于应力的疲劳寿命分析理论,建立了柔轮疲劳寿命仿真分析的力学模型,对柔轮疲劳寿命进行了分析。更多还原

【Abstract】 Electromagnetic harmonic movable teeth transmission system is a concept of generalized compound drive system with the organic integration of the electromagnetic harmonic transmission, the movable teeth transmission and control technology. This system can get low speed and large torque output compared with other systems, due to the lack of high-speed rotating machine parts of the device. And this system has the advantages of simple structure, faster response speed, small rotational inertia, high transmission efficiency, being easy to control, etc. As a new type of transmission, the theoretical study of the system is at infancy stage. This paper carries on a series of in-depth and systemic theoretical study on static analysis, parametric simulation, optimization design and fatigue life.According to the influence of the phenomenon of flexspline will deform in the magnetic field, this deformation will change the air gap length at any moment, The air gap magnetic field analysis is carried out to obtain the electromagnetic force expression on the unit area of the flexible wheel by introducing the equivalent factor. Based on the elastic thin shell theory and elastic mechanics theory, the analytic calculating formula of distortion and stress which is caused by the magnetic field are educed with the displacement function which satisfying the closure condition in the circumferential direction. Undetermined coefficients in the displacement function are obtained under introduction clamped-free two boundary conditions.This paper proposes the calculation formula of contact stress and strength of the main parts and deduces the transmission efficiency calculation method of the system. They lay the foundation for the optimization design of the electromagnetic harmonic drive system.Then simulation technology is used in analyzing the Electromagnetic harmonic movable teeth transmission system by Visual Basic language. This article discussed the impact of all structure parameters to the tooth profile of component and the movement state of the structure. This simulation technology is used to predict the preset parameters whether meet the requirements of the Electromagnetic harmonic movable teeth transmission system and it is helpful to set the initial parameters. This paper improves the part of the structure of electromagnetic harmonic movable teeth transmission system, and establishes a three-dimensional model based on the structure of the preset parameters.In order to improve the transmission efficiency and reduce the volume of the system, this paper makes a multi-objective fuzzy optimization design for the electromagnetic harmonic drive system and calculates the optimal results. And based on the theory of stress fatigue life analysis, this paper the mechanical establishes the model of the fatigue life of the flexible wheel and analysis the fatigue life of the flexible wheel.更多还原