考虑多源误差影响的谐波减速器传动误差建模与分析
Modeling and analysis of transmission error of harmonic drive considering influence of multi-source error
杨聪彬 1李文汉 1张涛 2刘志峰 3赵永胜2
作者信息
- 1. 北京工业大学先进制造与智能技术研究所/先进制造技术北京市重点实验室,北京 100124
- 2. 北京工业大学机械工业重型机床数字化设计与测试技术重点实验室,北京 100124
- 3. 吉林省高端数控装备先进制造与智能技术重点实验室,吉林 长春 130012
- 折叠
摘要
为解决现有谐波减速器传动误差建模方法的不足,提出一种考虑装配误差、齿面误差的综合误差建模方法.该方法首先建立装配误差和齿面误差数学模型,并进行误差影响参数分析.其次,测量实验样机装配偏心量和歪斜角度,基于模型得到对应偏心误差、歪斜误差模型理论值,齿面加工误差幅值按一般加工工况大小代入模型,得到对应加工误差模型理论值;然后,分别进行500 h、1500 h、3000 h时长的磨损实验,磨损后进行齿面形貌扫描和数据分析,得到对应的齿面形貌参数,基于模型得到对应的磨损误差模型理论值.最后,综合考虑多源误差影响,设置3组同型号样机,进行传动误差实验.实验结果表明:考虑装配偏心、歪斜和齿面加工等影响因素,传动误差的实验测量值与模型理论值误差在1.7～3.3％之间;综合考虑装配偏心、歪斜、齿面加工、齿面磨损等影响因素,在磨损500 h、1 500 h、3 000 h后传动误差的实验测量值与模型理论值误差分别在-3.45～2.07％、-5.88～-2.94％、1.33～5.33％之间.
Abstract
To solve the shortcomings of the existing modeling method for transmission errors of harmonic reducers,a comprehensive error modeling method considering assembly errors and tooth surface errors was proposed.The mathematical models of assembly errors and tooth surface errors were established,and the error influence parame-ters were analyzed.The eccentricity and tilt angle of the experimental prototype were measured,and the corre-sponding theoretical values of eccentricity error and tilt error model were obtained based on the model.The ampli-tude of tooth surface machining error was substituted into the model according to the general machining condition to obtain the corresponding machining error model theoretical value.Then,wearing experiments with durations of 500h,1500h,and 3000h were carried out,tooth surface morphology scanning and data analysis were performed to obtain corresponding tooth surface morphology parameters after wore.The corresponding wearing error model theo-retical value was obtained based on the model.Considering the influence of multiple sources of errors,three sets of samples with the same model number were set up for transmission error experiments.The experiment results showed that considering factors such as assembly eccentricity,tilt and tooth surface machining,the experimental measurement error of transmission error was between 1.7％and 3.3％compared to the theoretical value of the mod-el;considering factors such as assembly eccentricity,tilt,tooth surface machining and tooth surface wear after 500h,1500h and 3000h of wearing,the experimental measurement error of transmission error was between-3.45％～2.07％,-5.88％～-2.94％,and 1.33％～5.33％respectively.
关键词
谐波减速器/多源误差/影响参数分析/传动误差建模/模型验证Key words
harmonic drive/multi-source error/influencing parameters analysis/transmission error modeling/mod-eling verification引用本文复制引用
基金项目
国家自然科学基金(52175447)
北京市自然科学基金(3232002)
出版年
2024
NETL
NSTL
万方数据