工业机器人关节非标准薄壁角接触球轴承动态设计与几何结构参数优化研究

项目名称： 工业机器人关节非标准薄壁角接触球轴承动态设计与几何结构参数优化研究

项目编号： No.51305300

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 许立新

作者单位： 天津职业技术师范大学

项目金额： 25万元

中文摘要： 非标准薄壁角接触球轴承是一大类工业机器人关节实现精密传动的关键基础部件，其高刚性、高精度、高可靠性与轻量化设计已成为决定机器人使役性能、工作可靠性及功重比提高的瓶颈。掌握适于关节非标准薄壁角接触球轴承动态设计与几何结构参数优化的方法是解决这一问题的关键。为此，本项目首先以多体动力学理论和Hertz接触理论为工具，建立含关节角接触球轴承的空间机器人多体系统动力学模型；其次，以动力学分析为手段，研究机器人真实运动姿态及工况载荷下关节角接触球轴承的动态载荷特性；最后，以载荷分析为依据，通过有限元分析揭示关节空间受限下角接触球轴承高刚性、高精度、高可靠性等性能与其几何结构参数之间的映射规律。最终掌握适于关节非标准薄壁角接触球轴承动态设计与几何结构参数优化的方法，形成一套系统的数字化设计与分析流程。该项目研究将为提高我国工业机器人关节非标准薄壁角接触球轴承的自主创新设计水平提供重要的理论与技术支撑。

中文关键词： 工业机器人；关节轴承；动态设计；参数优化；机械动力学

英文摘要： The nonstandard thin-wall angular contact ball bearings are the key basic components of a large class of industrial robots for achieving precision transmission. The design of them with high-rigidity, high-precision, high-reliability and lightweight has been a bottleneck for industrial robots to improve the service performance, operation reliability and power to weight ratio. Mastering the method of dynamic design and geometrical parameters optimization of the joint nonstandard thin-wall angular contact ball bearings is the key to solving this problem. For this purpose, a dynamic model of space robot multibody system with joint angular contact ball bearings is proposed firstly based on the theories of multibody dynamics and Hertz contact. Secondly, the dynamic load characteristics of the joint angular contact ball bearings under the influence of the real motion posture and working load of industrial robot are studied relying on dynamic analysis. Finally, on the base of load analysis, the mapping laws between the performance of high-rigidity, high-precision and high-reliability of the angular contact ball bearings when the joint space is limited and their geometric parameters are revealed by finite element analysis. In the end of research, the method of dynamic design and geometrical parameters optimization of the

英文关键词： Industrial robots；Joint bearing；Dynamic design；Parameters optimization；Mechanical dynamics