【作者】 潘存云；

【导师】 温熙森；

【作者基本信息】 中国人民解放军国防科学技术大学 ， 机械电子工程， 2002， 博士

【摘要】 大多数的生物肢体关节都具有多自由度运动特性。随着机器人与仿生机械技术的发展，要求这类机械的运动关节也具有仿生运动特性，而传统的单自由度齿轮机构难以满足这种要求，工程上迫切需要多自由度新型齿轮机构的出现。本文的研究正是基于这种背景进行的。在国家自然科学基金的资助下，本文提出了一种全新的渐开线环形齿球齿转机构，并系统研究了这种新型齿轮传动原理；建立了运动分析模型，通过动态图形仿真研究，验证了理论研究的正确性；论文还研究了渐开线齿廓球齿轮的范成法切削加工方法，研制了相应的切削加工试验装置。本文的主要研究成果如下： 1．发明了渐开线环形齿球齿轮机构。通过对国外著名学者Ole.monlang发明的离散齿球齿轮的深入分析，发现该球齿轮存在传动原理性误差和加工困难两大缺陷。而产生这些缺陷的根本原因一是轮齿在球面上呈离散分布，二是凸齿齿廓为直线。本文创造性地提出了采用工程上广泛应用的渐开线作为齿廓曲线，并将轮齿沿纬度方向在球面上呈连续分布的设计思想，在此基础上发明了渐开线环形齿球齿轮机构，实物模型证明，该机构从根本上克服了传统离散齿球齿轮存在的传动原理误差和加工困难两大障碍，在齿轮传动领域取得了重大突破。 2．建立了新型球齿轮传动的理论体系。由于渐开线环形齿球齿轮机构为本文首创，相关的理论体系为空白。为此，本文首次提出了球齿轮传动中若干新概念，新名词，并对物理含义作了完整的定义；提出了球齿轮机构的正确啮合条件和连续传动条件；利用空间啮合理论，证明了一对渐开线环形齿廓互为共轭齿廓，能实现精确的定传动比球面运动。利用方向余弦矩阵分析法建立了球齿轮机构和球齿轮齿盘机构的运动分析模型，为执行机构的控制系统设计提供了理论依据。 3．研制了基于球齿轮传动的机器人柔性手腕机构。由于结构上的限制，理论上，一对球齿轮的传动范围被限制在-90°≤θ≤90°之间，为了获得偏摆角大于90°的实用机构，本文解决了多对球齿轮串联安装问题。所研制的柔性手腕机构采用了由三对球齿轮传动串联而成的空间三重系杆行星轮系结构，可实现全方位的任意偏摆，其输出轴最大偏摆角度可达136°，具有良好的运动柔性。而在输入摆角相同时，国外著名的Trallfa柔性手腕的最大偏摆角度只有88°。 4．提出了复杂机械系统运动三维图形仿真的一般原理和实现方法。通过将空间机构学齐次矩阵变换原理和计算机图形学原理相结合，提出了以空间多杆开式链机构为代表的复杂机械系统运动三维图形仿真的一般原理和方法。采用编程法完成了多种用交互式操作难以实现的以球齿轮为代表的典型复杂零件的实体造型。设计了零件装配中采用的典型拼装算法。分别以球齿轮机构、国防科学技术大学研究生院学位论文 球齿轮齿盘机构和柔性手腕机构为对象进行了运动仿真，验证了理论分析模 型的正确性。5.提出了球齿轮传动的范成法切削加工方法，并研制了切削加工原理性试验装 置。范成法加工的理论依据在于一对球齿轮的齿廓曲面互为共扼曲面，它们 在传动过程中互为包络面，如果将其中的一个球齿轮的齿廓做成刀具，另一 个为被加工齿轮的毛坯，由机床传动系统保证两者之间的啮合运动，就可以 加工出球齿轮。依据上述原理，本文提出了范成法车削和铣削两种传动系统 的设计方案，并对车削法方案进行了实施。试验结果证明提出的球齿轮范成 法加工原理是正确的。更多还原

【Abstract】 Mjpst of creature’s joint have motion characteristic of multidegree of freedom. With the development of the techonology of robot and biomechanics ,machine’s motion joint also need this characteristic.But for traditional gear with single degree of freedom,it is difficult to meet it.We cry for the appearance of a flew type of gear with multidegree of freedom.|tujiy in this paper is just based on this situatioti.Supported by the National Fund Of Natural Science ,we bring forward a new type of spherical gear with ring involute tooth,and study the drive principle of it systemfcally; we set up motion analysing model and testify the theoretical study by dynamicfigure’s simulation;we also study the "Generating method to manufacture the spherical gear with ring involute tooth form.and develop the corresponding experimental cutting set-up. The main production of this paper is following:1. We invent the spherical gear with ring involute tooth. By an in-depth study on the spherical gear with discrete tooth that Ole.monlang has invented as a famous scholar,we found that this gear has two objections :errors in drive principle and difficulties in manufacturing.The essential cause that brirfg these objections are that tooth is distributed discretely on the spherical surface firstly, and that convex tooth form is beeline. Creatively,this paper advance involute as the tooth form that has been used widely in the engineering, and we also bring forward a design idea that tooth can be distributed continuously on spherical surface. Based on those ideas ,we invent the spherical gear of ring involute tooth .It is proved that this mechanism overcome the two big objections of traditional gear by solid model, and so a great breakthrough is achieved in the gear drive field .2. We set up the theory system of this new type of gear . As this paper originate the gear ,the corresponding theory system is blank. So this paper bring forward several new concepts and new terms, and give the whole defmations to their physical meanings; advance the conditions of right gearing mesh and continuous drive; prove out that a pair of ring involute tooth forms are conjugated and that they can achieve precise spherical motion of constant transmitting ratio employing the space mesh theory. By the analysing method of direction cosine matrix ,we set up motion analysing model of spherical gear and fluted disc of this gear, thus provide the theoretical basis for control system design of actuating mechanism.3. We develop the flexible wrist of robot based on spherical gear’s drive . The range of theoretional driving of a pair of spherical gear is limited to -90 90 , this paper solve the problems of series fixing of spherical gears in series. And it’s output shaft can swing in the orientation of 360?at will , and maximal swinging angle can reach 136 , so it possess favorable flexibilities of motion. While the maximal angle is just 88 of the famous flexible wrist of Trallfa when the input angle are equivalent to it.4. We bring forward the general principle and implementation method of three-dimensional graphics of complicated mechanical system. Combining the homogeneous matrix transformation theory of space mechanism and computer graphics, we raise the general principle and motion simulation’s method of complicated mechanism,which is represented by spacial multipole structure of open chain. Using programming ,we fulfill many solid modelling of typical complicated parts represented by spherical gears, which is difficult to completewith interactive operation. We also devise a typical build-up algorithm during fitting assembling. Furthermore , we carry out motion simulation to the spherical gear, gear’sfluted disc and flexible wrist, thus confirm the theoretical analysing model.5.We bring forward the Generating cutting method based on spherical gear drive,and develop experimental cutting set-up in principle. In theory, the Generating mehtod bases that the tooth form of a pair of gear is conjugated . During更多还原