Thin-walled four-point contact ball bearing-wrist joint system contact dynamics analysis
Aiming at the problem of motion stability of the wrist joint system with thin-walled four-point contact ball bearings in the actual working conditions of the robot,the simplified design and simulation of the wrist system model were studied.Considering the coupling effect of elastic deformation and dynamic contact of thin-walled structure,a rigid-flexible coupling wrist joint system model of industrial robot was established,and the deformation law and dynamic characteristics under different loading conditions and positive and negative driving were analyzed.Firstly,based on multibody dynamics and Hertz contact theory,a simulation model of rigid-flexible coupling contact dynamics of wrist joint system including thin-walled four-point contact ball bearing,hollow shaft and base was designed.Then,considering the structural elastic deformation of the thin-walled hollow shaft,the base,the bearing ring and the cage,the dynamic contact effect of the steel ball and the ring raceway and the cage,the effects of the two practical working conditions of the robot wrist joint system on the angular velocity of the cage and the steel ball,the vibration displacement of the cage and the thin-walled base,and the dynamic contact force between the steel ball and the ring were studied.Finally,the dynamic load law and vibration response characteristics of the wrist joint system under the two working conditions were calculated and analyzed.The results show that under the action of relatively large radial load,the cage and the steel ball will slip,the speed will fluctuate periodically,the cage and the base have better motion stability,the internal load of the thin-walled bearing is reduced,the main and auxiliary contact pairs bear the combined load,and the internal load stability of the bearing is also better.The simulation model and results can provide a reference for the dynamic analysis and design of thin-walled wrist joint system.
rigid-flexible coupling industrial robotwrist joint system modelthin-walled four-point contact ball bearingsstructural elastic deformationvibration characteristicsdynamic contactrigid-flexible coupling multi-body contact dynamic model of thin-walled
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NSTL
万方数据
维普
