考虑加工误差的摆轮活齿传动误差建模与调控

doi:10.3901/JME.260413

机械工程学报 ›› 2026, Vol. 62 ›› Issue (9): 155-171.doi: 10.3901/JME.260413

• 机械动力学 • 上一篇

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考虑加工误差的摆轮活齿传动误差建模与调控

陈美宇¹, 宜亚丽¹, 卫锐¹, 杨泽宇¹, 陈涛¹, 金贺荣^1,2,3

1. 燕山大学机械工程学院秦皇岛 066004;
2. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
3. 燕山大学先进锻压成型技术与科学教育部重点实验室秦皇岛 066004

收稿日期:2025-06-04 修回日期:2025-10-14 发布日期:2026-07-08
作者简介:陈美宇，女，1999年出生，博士研究生。主要研究方向为活齿传动精度及其保持机制。E-mail：mychen@stumail.ysu.edu.cn;金贺荣(通信作者)，男，1975年出生，博士，教授，博士研究生导师。主要研究方向为机电集成系统设计及活齿传动技术。E-mail：ysujhr@ysu.edu.cn
基金资助:
国家自然科学基金(52375064)和河北省自然科学基金(E2024203121)资助项目。

Error Modeling and Control of Swing Roller Movable Teeth Transmission Considering Machining Error

CHEN Meiyu¹, YI Yali¹, WEI Rui¹, YANG Zeyu¹, CHEN Tao¹, JIN Herong^1,2,3

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;
3. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004

Received:2025-06-04 Revised:2025-10-14 Published:2026-07-08

摘要/Abstract

摘要： 针对活齿传动误差与各传动件加工误差映射关系不明确问题，以摆轮活齿为研究对象，建立基于摆轮活齿传动等效机构的传动件几何误差矢量表征模型，探明误差传递路径，虑及多齿并联协调关系，构建多齿并联系统传动误差模型。以时频域分析为手段，明晰激波器、中心轮和活齿架加工误差及其联合作用下摆轮活齿传动误差时频域特性，据此制定传动误差调控方案，并搭建摆轮活齿传动误差测试平台，对比分析摆轮活齿样机误差调控效果。结果表明：通过考虑单项误差、误差联合对传动误差影响程度的误差分组调控，传动误差峰值均控制在IT6级等精度方案水平，相比IT7级等精度方案传动误差峰值分别降低了37.7%和35.2%；基于误差联合影响程度的误差调控样机传动误差峰值、波动幅值均显著低于IT7级等加工精度样机，验证了传动误差模型及误差调控方法的有效性，实现了传动精度与加工成本的有效平衡。

关键词: 传动误差, 摆轮活齿, 误差调控, 多齿啮合, 时频域分析

Abstract: Aiming at the problem of ambiguous mapping relationship between movable teeth transmission error and machining errors of transmission components. Taking swing roller movable teeth as the research object, and the geometric error vector representation model of the transmission components based on the equivalent mechanism of the swing roller movable teeth transmission is established. What’s more, the error transmission path is explored, and the transmission error model of multi-tooth parallel system is constructed considering the coordination relationship of multi-tooth parallel system. By means of time-frequency domain analysis, the time-frequency domain characteristics of the swing roller movable teeth transmission error under the effect of machining errors of wave generator, ring gear and separator are clear, as well as the combined effect of these errors. On this basis, the transmission error control schemes are developed. Then, a test platform for transmission error of swing roller movable teeth transmission is built to compare the error control effect of swing roller movable teeth prototype. The results show that transmission error peaks of the control schemes based on the influence degree of individual error factors and error interaction are controlled at the IT6 level of precision, which is 37.7% and 35.2% lower than IT7 level of precision, respectively. The transmission error peak value and fluctuation amplitude of the error control prototype based on the interaction influence degree of error are significantly lower than the same precision prototype based on IT7-level machining accuracy, which verifies the effectiveness of the transmission error model and error control method, and achieves an effective balance between transmission accuracy and machining cost.

Key words: transmission error, swing roller movable teeth, error control, multi-tooth meshing, time-frequency domain analysis

中图分类号:

TH132

陈美宇, 宜亚丽, 卫锐, 杨泽宇, 陈涛, 金贺荣. 考虑加工误差的摆轮活齿传动误差建模与调控[J]. 机械工程学报, 2026, 62(9): 155-171.

CHEN Meiyu, YI Yali, WEI Rui, YANG Zeyu, CHEN Tao, JIN Herong. Error Modeling and Control of Swing Roller Movable Teeth Transmission Considering Machining Error[J]. Journal of Mechanical Engineering, 2026, 62(9): 155-171.

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考虑加工误差的摆轮活齿传动误差建模与调控

Error Modeling and Control of Swing Roller Movable Teeth Transmission Considering Machining Error

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