机器人关节裂纹传动系统机电耦合动态特性研究

doi:10.3901/JME.2022.19.057

机械工程学报 ›› 2022, Vol. 58 ›› Issue (19): 57-67.doi: 10.3901/JME.2022.19.057

扫码分享

机器人关节裂纹传动系统机电耦合动态特性研究

莫帅^1,2,3, 周长鹏², 王檑², 胡庆森², 高瀚君⁴, 岑国建⁵

1. 广西大学机械工程学院南宁 530004;
2. 天津工业大学机械工程学院天津 300387;
3. 华中科技大学数字制造装备与技术国家重点实验室武汉 430074;
4. 北京航空航天大学虚拟现实技术与系统国家重点实验室北京 100191;
5. 宁波中大力德智能传动股份有限公司宁波 315301

收稿日期:2022-03-07 修回日期:2022-07-21 出版日期:2022-10-05 发布日期:2023-01-05
作者简介:莫帅(通信作者)，男，1987年出生，博士，教授，博士研究生导师，中国科协青年人才托举工程入选者。主要研究方向为齿轮传动系统动力学建模及故障诊断。E-mail：moshuai2010@163.com
基金资助:
国家自然科学基金(52265004)、中国科协青年人才托举工程 (2018QNRC001)、数字制造装备与技术国家重点实验室开放基金(DMETKF2021017)、直升机传动技术国防科技重点实验室开放基金(HTL-0-21G07)和江苏省泰州市双创计划资助项目。

Research on Dynamic Characteristics of Electromechanical Coupling of Robot Joint Crack Transmission System

MO Shuai^1,2,3, ZHOU Changpeng², WANG Lei², HU Qingsen², GAO Hanjun⁴, CEN Guojian⁵

1. School of Mechanical Engineering, Guangxi University, Nanning 530004;
2. School of Mechanical Engineering, Tiangong University, Tianjin 300387;
3. State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science & Technology, Wuhan 430074;
4. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191;
5. Ningbo Zhongda Leader Transmission Equipment Co. Ltd., Ningbo 315301

Received:2022-03-07 Revised:2022-07-21 Online:2022-10-05 Published:2023-01-05

摘要/Abstract

摘要： 服务机器人关节采用驱控一体化集成设计，并且传动系统采用小模数变位齿轮。关节频繁运动容易导致齿轮传动系统产生裂纹，裂纹引起刚度变化从而影响整个系统的动态特性。根据变位齿廓建立变位齿轮裂纹刚度计算模型，分别研究变位系数、多种裂纹形式对时变啮合刚度的影响；其次利用集中参数法构建了机器人关节机电耦合平移—扭转动力学模型，并将驱动电机的电磁特性、齿侧间隙等因素考虑入方程中；最后通过统计学分析裂纹对传动系统的影响。研究结果表明：正变位使刚度增大，负变位反之；双侧裂纹对刚度的影响明显大于单侧；随着裂纹加深，时变啮合刚度加速降低；随着传动系统级数的增加，裂纹对传动系统的影响逐渐减弱。研究结果为变位齿轮传动系统裂纹故障诊断提供理论基础。

关键词: 时变啮合刚度, 变位齿轮, 机电耦合动力学, 故障诊断

Abstract: The joint of the service robot adopts the integrated design of drive and control, and the transmission system adopts the small-modulus modified gear. The frequent movement of joints can easily lead to cracks in the gear transmission system, and the cracks cause stiffness changes that affect the dynamic characteristics of the entire system. According to the modified tooth profile, a calculation model of the crack stiffness is established. Study on the influence of modified coefficient and various crack forms on time-varying mesh stiffness. Secondly, the electromechanical coupling translation-torsion dynamic model of the robot joint is constructed by the lumped parameter method, and the electromagnetic characteristics of the drive motor and the backlash and other factors are taken into account into the equation. Finally, the influence of the crack on the transmission system is analyzed by statistics. The research results show that positive modified increases the stiffness, while negative modified is the opposite; the effect of double-sided cracks on stiffness is significantly greater than that of single-sided cracks; as the crack deepens, the stiffness decreases rapidly. The effect of cracks on the transmission system is gradually weakened with the increase of the transmission system grade. The research results provide a theoretical basis for the crack fault diagnosis of the modified gear transmission system.

Key words: time-varying meshing stiffness, modified gear, electromechanical coupling dynamics, fault diagnosis

中图分类号:

TH13

莫帅, 周长鹏, 王檑, 胡庆森, 高瀚君, 岑国建. 机器人关节裂纹传动系统机电耦合动态特性研究[J]. 机械工程学报, 2022, 58(19): 57-67.

MO Shuai, ZHOU Changpeng, WANG Lei, HU Qingsen, GAO Hanjun, CEN Guojian. Research on Dynamic Characteristics of Electromechanical Coupling of Robot Joint Crack Transmission System[J]. Journal of Mechanical Engineering, 2022, 58(19): 57-67.

参考文献

[1] 卢晋，吴志刚，杨超. 电动舵机模块化建模及动刚度仿真[J]. 北京航空航天大学学报，2021，47(4):765-778. LU Jin，WU Zhigang，YANG Chao. Modular modeling and dynamic stiffness simulation of electromechanical actuator[J]. Journal of Beijing University of Aeronautics and Astronautics，2021，47(4):765-778.
[2] DAY C P. Robotics in industry-their role in intelligent manufacturing[J]. Engineering，2018，4(4):440-445.
[3] 刘杰，孙玉凤，李环宇. 不同齿根裂纹深度的啮合刚度与振动响应分析[J]. 振动、测试与诊断，2021，41(2): 275-282. LIU Jie，SUN Yufeng，LI Huanyu. Analysis of meshing stiffness and vibration response of tooth with root crack in different depth[J]. Journal of Vibration，Measurement & Diagnosis，2021，41(2):275-282.
[4] 万志国，訾艳阳，曹宏瑞，等. 时变啮合刚度算法修正与齿根裂纹动力学建模[J]. 机械工程学报，2013，49(11):153-160. WAN Zhiguo，ZI Yanyang，CAO Hongrui，et al. Time-varying meshing stiffness algorithm modification and root crack dynamics modeling[J]. Journal of Mechanical Engineering，2013，49(11):153-160.
[5] CHEN Yuan，ZHU Rupeng，JIN Guanghu，et al. Influence of crack depth on dynamic characteristics of spur gear system[J]. Journal of Vibration Engineering & Technologies，2019，7(3):227-233.
[6] 吴家腾，杨宇，程军圣. 基于解析有限元的齿根裂纹时变啮合刚度计算方法[J]. 机械工程学报，2018，54(23):56-62. WU Jiateng，YANG Yu，CHENG Junsheng. The time-varying mesh stiffness calculation for gear tooth crack based on analytical-finite element method[J]. Journal of Mechanical Engineering，2018，54(23):56-62.
[7] 孟宗，石桂霞，王福林，等. 基于时变啮合刚度的裂纹故障齿轮振动特征分析[J]. 机械工程学报，2020，56(17):108-115. MENG Zong，SHI Guixia，WANG Fulin，et al. Vibration characteristic analysis of cracked gear based on time-varying meshing stiffness[J]. Journal of Mechanical Engineering，2020，56(17):108-115.
[8] YI Yuanyuan，QIN Datong，LIU Changzhao. Investigation of electromechanical coupling vibration characteristics of an electric drive multistage gear system[J]. Mechanism and Machine Theory，2018，121:446-459.
[9] YANG Lantao，SHAO Yimin，JIANG Weiwei，et al. Effects of tooth surface crack propagation on meshing stiffness and vibration characteristic of spur gear system[J]. Applied Sciences，2021，11(4):1-18.
[10] SHEN Zhixian，QIAO Baijie，YANG Laihao，et al. Evaluating the influence of tooth surface wear on TVMS of planetary gear set[J]. Mechanism and Machine Theory，2019，136:206-223.
[11] PATEL A，SHAKYA P. Spur gear crack modelling and analysis under variable speed conditions using variational mode decomposition[J]. Mechanism and Machine Theory，2021，164:1-25.
[12] CHEN Taoyuan，WANG Yanxue，CHEN Zhigang. A novel distribution model of multiple teeth pits for evaluating time-varying mesh stiffness of external spur gears[J]. Mechanical Systems and Signal Processing，2019，129:479-501.
[13] GOVIND V J，SACHIN K，KUMAR K P. Crack growth modeling in spur gear tooth and its effect on mesh stiffness using extended finite element method[J]. Engineering Failure Analysis，2018，94:109-120.
[14] MO Shuai，ZHANG Ting，JIN Guoguang，et al. Influence mechanism of multi-coupling error on the load sharing characteristics of herringbone gear planetary transmission system[J]. Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics，2019，233(4):792-816.
[15] MO Shuai，YUE Zongxiang，FENG Zhanyong，et al. Analytical investigation on load-sharing characteristics for multi-power face gear split flow system[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science，2020，234(2):676-692.
[16] MO Shuai，ZHANG Ting，JIN Guoguang，et al. Analytical investigation on load sharing characteristics of herringbone planetary gear train with flexible support and floating sun gear[J]. Mechanism and Machine Theory，144:1-27.
[17] 莫帅，周长鹏，李旭，等. 机器人智能关节驱控一体化设计方法研究[J]. 纺织学报，2022，43(3):160-167. MO Shuai，ZHOU Changpeng，LI Xu，et al. Research on integrated design method of robot intelligent joint drive and control Structure[J]. Journal of Textile Research，2022，43(3):160-167.
[18] 莫帅，李旭，高瀚君，等. 机器人关节无刷电机驱动与控制系统研究[J]. 华中科技大学学报，2022，50(2):69-75. MO Shuai，LI Xu，GAO Hanjun，et al. Research on brushless motor drive and control system for robot joints[J]. Journal of Huazhong University of Science and Technology，2022，50(2):69-75.
[19] WU Siyan，ZUO M J，PAREY A. Simulation of spur gear dynamics and estimation of fault growth[J]. Journal of Sound & Vibration，2008，317(3-5):608-624.

机器人关节裂纹传动系统机电耦合动态特性研究

Research on Dynamic Characteristics of Electromechanical Coupling of Robot Joint Crack Transmission System

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	狄子钧, 袁东风, 李东阳, 梁道君, 周晓天, 信苗苗, 曹凤, 雷腾飞. 基于多尺度-高效通道注意力网络的刀具故障诊断方法[J]. 机械工程学报, 2024, 60(6): 82-90.
[2]	严如强, 许文纲, 王志颖, 朱启翔, 周峥, 赵志斌, 孙闯, 王诗彬, 陈雪峰, 张军辉, 徐兵. 航空发动机燃油控制系统故障诊断技术研究进展与挑战[J]. 机械工程学报, 2024, 60(4): 3-31.
[3]	张军辉, 刘施镐, 徐兵, 黄伟迪, 吕飞, 黄晓琛. 轴向柱塞泵智能化关键技术研究进展及发展趋势[J]. 机械工程学报, 2024, 60(4): 32-49.
[4]	丁孺琦, 熊文杰, 程敏, 徐兵. 智能化阀口独立电液控制系统安全性能评估[J]. 机械工程学报, 2024, 60(4): 101-112.
[5]	王志颖, 李天福, 许文纲, 孙闯, 张军辉, 徐兵, 严如强. 降噪混合注意力变分自编码器及其在轴向柱塞泵故障诊断中的应用[J]. 机械工程学报, 2024, 60(4): 167-177.
[6]	邵海东, 林健, 闵志闪, 明宇航. 分布外样本干扰下基于改进半监督原型网络的齿轮箱跨域故障诊断[J]. 机械工程学报, 2024, 60(4): 212-221.
[7]	潘海洋, 徐海锋, 郑近德, 童靳于, 张飞斌. 基于双加权不平衡矩阵分类器的机械故障诊断方法[J]. 机械工程学报, 2024, 60(3): 170-180.
[8]	赵轲, 叶敏, 王瑞欣, 陆海, 刘孟孟, 邵海东. 基于模糊域自适应的源自由域旋转机械故障诊断方法[J]. 机械工程学报, 2024, 60(18): 43-52.
[9]	李志鹏, 马天雨, 刘金平, 向青松, 唐俊杰. 基于非对称性对抗训练的多源域自适应智能故障诊断方法[J]. 机械工程学报, 2024, 60(18): 76-88.
[10]	汪煜坤, 易彩, 汪浩, 周秋阳, 冉乐, 王靖元. PSD引导的自适应频带划分方法及其在轴承故障诊断中的应用[J]. 机械工程学报, 2024, 60(17): 179-193.
[11]	刘一龙, 李心远, 陈银萍, 成玮, 陈雪峰. 基于峭度曲面极大值的电机轴承保持架故障诊断方法[J]. 机械工程学报, 2024, 60(15): 89-99.
[12]	于小洛, 杨阳, 杜明刚, 何清波, 彭志科. 机械传动系统含偏差频率分量协同检测与分解方法[J]. 机械工程学报, 2024, 60(15): 100-112.
[13]	黄包裕, 张永祥. 一种基于三步法的轴承故障诊断方法[J]. 机械工程学报, 2024, 60(14): 51-68.
[14]	陈钱, 陈康康, 董兴建, 皇甫一樊, 彭志科, 孟光. 一种面向机械设备故障诊断的可解释卷积神经网络[J]. 机械工程学报, 2024, 60(12): 65-76.
[15]	王诗彬, 王世傲, 陈雪峰, 黄海, 安波涛, 赵志斌, 刘永泉, 李应红. 可解释性智能监测诊断网络构造及航空发动机整机试车与中介轴承诊断应用[J]. 机械工程学报, 2024, 60(12): 90-106.