文档介绍：机械设计与制造
第 6 期
2010 年 6 月 Machinery Design & Manufacture 57
文章编号:1001-3997(2010)06-0057-02
机械臂中柔性行星齿轮的设计*
谭琛 1 唐毅 2 杨达飞 2
(1 上汽通用五菱汽车股份有限公司发动机工厂设备管理科,柳州 545007)(2 柳州职业技术学院,柳州 545006)
The design of the flexible gear in mechanical arm
TAN Chen1,TANG Yi2,YANG Da-fei2
(1 SAIC-GM-Wuling Automobile Co.,Ltd,Powertrain Plant Maintenance Section,Liuzhou 545007,China)
(2 Liuzhou Vocational&Technical College,Liuzhou 545006,China)

【摘要】针对带刚性连接挠性接头、以柔性行星齿轮驱动的工业机械臂,提出了一种新的建模和计

算方法由于接头的灵活性,工作中很容易产生共振,经常导致机械臂运行轨迹产生偏差,为此本文研究

。

了一个以挠性接头连接刚体的 N 级连接工业机械臂模型,该模型以永磁直流伺服电机和柔性行星齿轮进

行驱动。在机械臂动态模型设计过程中,充分考虑了齿轮的周期和齿轮刚度,并以两级工业机械臂为例,

仿真了带挠性接头以行星齿轮驱动的动态机械臂模型

、。

关键词:机械臂;动态模型;行星齿轮;控制;啮合力;伺服电机

,

【Abstract】In view of the rigid link flexible joint the industry mechanical arm which actuates by the

,
flexible gear this paper proposed one kind of new modeling and putational method. Because

joint is flexibility,in the work is very easy to have resonating,causes the mechanical arm movement path to

,

have the deviation frequently for this reason it has studied a model which connection between the flexible

joint rigid link body and N level industry mechanical arm,this model carries on the actuation by perma-

nent ism DC servo motor and the flexible