| A robot joint operating in free space always can be controlled by a single motor, but there are some limitations of the single motor driving method such as can't achieve high power Transmission, can't control the position and stiffness simultaneously at the same joint and so on. Double motor drive is a novel transmission mode which can improve the output shaft stiffness and Natural resonant frequency of mechanical systemInvolute differential planetary transmission system is widely used in industry field. It has properties of large transmission ratio, small cubage, light weight, easy machining. This paper proposes a new robot joint using dual-actuator with planetary gear train and applies the mentioned system to the design of the friction welding, made design and calculation of key parts of the friction welding, and realized static analysis to the key parts with ANSYS. In this paper, on the platform of ADAMS, combining with three-dimensional model established in Pro/E, the dynamic simulation of the designed joint was realized. The main researches are as following:(1) Based on expatiation of structural traits of difference planetary system, the paper elaborated the velocity relation and torque relation between the input and output.(2) Made design and calculation of key parts of the friction welding, using Pro/Program to carry on the parameter modeling of the key parts include involute cylinder gear, worm gear and bevel gear.(3) The thesis analyzed systemic stress distribution in finite element analysis software ANSYS and analyzed the calculation results. Combining with PRO/E, the simulation simplified model was established to realize the dynamic simulation. And the simulation results were given in ADAMS which is multi-rigid-body system simulation software.(4) This paper demonstrated that the mentioned transmission using dual-actuator with planetary gear train can control the position and stiffness simultaneously at the same joint from the theoretical analysis and simulation. |
PDF Full Text Request