基于空间螺旋理论的行星滚柱丝杠副自由度计算与分析
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摘要
基于空间螺旋理论开展行星滚柱丝杠副(PRS,planetary roller screw)机构学分析,综合考虑PRS作为空间螺旋机构的运动特点,建立了PRS机构运动简图。通过修正的G-K公式计算PRS的自由度,从理论上分析系统各构件对机构自由度的影响。通过开展不同数量构件条件下的机构自由度计算分析,对比了单滚柱、单挡圈条件下机构自由度,得出了增加滚柱与挡圈的数量对于机构自由度的运动特性的影响。理论计算结果在一定程度上揭示了PRS运动学原理。
The analysis of the planetary roller screw(PRS)mechanism is carried out based the theory of spatial screw.The kinematic sketch of PRS mechanism is established with consideration given to the characteristics of the spatial screw mechanism.The degree of freedom(DOF)of the PRS is calculated according to the modified G-K formula,and the effects of all the elements of the mechanism on its DOF are investigated theoretically.The DOF of the mechanism with different numbers of rollers and rings is calculated and analyzed.The comparative analysis of the DOF of the mechanism with single roller and ring shows that the increase of the number of rollers and rings has an effect on the kinematic characteristics of this mechanism.The theoretical analysis reveals the principles of the PRS kinematics to a certain extent.
The analysis of the planetary roller screw(PRS)mechanism is carried out based the theory of spatial screw.The kinematic sketch of PRS mechanism is established with consideration given to the characteristics of the spatial screw mechanism.The degree of freedom(DOF)of the PRS is calculated according to the modified G-K formula,and the effects of all the elements of the mechanism on its DOF are investigated theoretically.The DOF of the mechanism with different numbers of rollers and rings is calculated and analyzed.The comparative analysis of the DOF of the mechanism with single roller and ring shows that the increase of the number of rollers and rings has an effect on the kinematic characteristics of this mechanism.The theoretical analysis reveals the principles of the PRS kinematics to a certain extent.
引文
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[2]Hojjat Y,Agheli M M.A comprehensive study on capabilities and limitations of roller-screw with emphasis on slip tendency[J].Mechanism&Machine Theory,2009,44(10):1887-1899.
[3]Velinsky S A,Chu B,Lasky T A.Kinematics and efficiency analysis of the planetary roller screw mechanism[J].Journal of Mechanical Design,2009,131(1):1-8.
[4]Matthew H J,Velinsky S A,Lasky T A.Contact iinematics in the roller screw mechanism[J].Journal of Mechanical Design,2013,135(5):1-10.
[5]Jones M H,Velinsky S A.Kinematics of roller migration in the planetary roller screw mechanism[J].Journal of Mechanical Design,2012,134(6):579-580.
[6]Aurégan G,Fridrici V,Kapsa P,et al.Experimental simulation of rolling-sliding contact for application to planetary roller screw mechanism[J].Wear,2015,332/333:1176-1184.
[7]Matthew H J,Steven A V.Stiffness of the roller screw mechanism by the direct method[J].Mechanics Based Design of Structures&Machines,2014,42(1):17-34.
[8]Tong R.A frictional heat model of planetary roller screw mechanism considering load distribution[J].Mechanics Based Design of Structures&Machines,2015,43(2):164-182.
[9]付晓军,刘更,马尚君,等.行星滚柱丝杠副螺旋曲面啮合机理研究[J].机械工程学报,2016,52(3):26-33.FU Xiaojun,LIU Geng,MA Shangjun,et al.Studies on meshing mechanism of helical surfaces in planetary roller screw mechanism[J].Journal of Mechanical Engineering,2016,52(3):26-33.(in Chinese)
[10]马尚君.行星滚柱丝杠副结构设计方法及其传动性能研究[D].西安:西北工业大学,2013.MA Shangjun.Research on structure design method andtransmission performances of planetary roller screw[D].Xi'an:Northwestern Polytechnical University,2013.(in Chinese)
[11]马尚君,刘更,周建星,等.行星滚柱丝杠副运转过程动态特性分析[J].振动与冲击,2013,32(3):167-171,187.MA Shangjun,LIU Geng,ZHOU Jianxing,et al.Dynamic characteristic analysis of a planetary roller screw in operating process[J].Journal of Vibration and Shock,2013,32(3):167-171,187.(in Chinese)
[12]李凯,叶佩青,周晓尧,等.精密行星滚柱丝杠的传动特性[J].光学精密工程,2016,24(8):1908-1916.LI Kai,YE Peiqing,ZHOU Xiaoyao,et al.Driving characteristics of precision planetary roller screw[J].Optical Precision Engineering,2016,24(8):1908-1916.(in Chinese)
[13]张国庆,杜建军.基于螺旋理论的空间机构自由度分析方法[J].机械设计与制造,2009(1):10-12.ZHANG Guoqing,DU Jianjun.Analysis of spatial mechanisms based on the screw theory[J].Machinery Design and Manufacture,2009(1):10-12.(in Chinese)
[14]黄真,刘婧芳,曾达幸.基于约束螺旋理论的机构自由度分析的普遍方法[J].中国科学(E辑:技术科学),2009,39(1):84-93.HUANG Zhen,LIU Jingfang,ZENG Daxing.A General method for the analysis of institutional degrees of freedom based on constrained screw theory[J].Chinese Science(Series E:Technical Science),2009,39(1):84-93.(in Chinese)
[15]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.HUANG Zhen,ZHAO Yongsheng,ZHAO Tieshi.Advanced special mechanism[M].Beijing:High Education Press,2006.(in Chinese)