Study On Dynamic Of Double Shock Cycloid Steel Ball Drive

Double shock cycloid ball drive is a new type of precision transmission.It has a wide application prospect in robot joint,UAV and other fields because of its advantages such as compact structure,small volume,stable transmission and high precision.This paper analyzes the gear shape synthesis,meshing force,contact,stiffness,inherent and nonlinear characteristics of the double shock cycloid ball transmission mechanism.According to the meshing principle of double shock cycloid steel ball drive,the theoretical tooth shape equation of double shock wave cycloid steel ball transmission is deduced by coordinate transformation and envelope method,and the tooth surface equation when using straight bus V-shaped milling cutter is derived.The contact mechanics model is established.The force analysis is carried out based on Hertz contact theory and deformation coordination relationship.The calculation formulas of contact angle,meshing force and output torque are derived.The influence of system structural parameters on the meshing force and torque fluctuation is analyzed.Based on Hertz contact theory,the formulas of contact area characteristics such as elliptical semi axis,elastic deformation and maximum contact pressure are derived,and the contact characteristics of the mating pairs are analyzed.The stress field of the contact surface and the secondary surface of the steel ball is solved by numerical method,and the maximum Mises equivalent stress of the meshing pair is obtained.According to the normal meshing force and contact elastic deformation,the time-varying meshing stiffness of each pair is solved and the influence of parameters is analyzed.After fitting the meshing stiffness,Fourier series expansion is carried out to obtain the explicit expression expressed by the average stiffness and stiffness increment,and the frequency-domain characteristics of the stiffness increment are analyzed.The dynamic model of the double shock cycloid steel ball transmission system is established.According to Newton’s second law and the relative position of the components,the nonlinear dynamic differential equations of the system are constructed,and the natural frequencies of each order of the transmission system are solved.The natural frequency and the main mode of the derived system are solved and analyzed,and the parameter influence analysis of the natural frequencies of the derived system is carried out.The Linzi Ted-Poincaré perturbation method is used to solve the steady-state response of the system.The second order differential equation of the system is reduced by the Runge-Kutta method.The displacement response and velocity response of the system are solved.The influence of damping and external excitation on the nonlinear characteristics of the system response is analyzed.The reasonable structural parameters are selected and the three-dimensional model of double shock cycloid steel ball transmission is established by Solid Works software.The speed ratio and the meshing force simulation are analyzed by Adams dynamic simulation software.According to the selected parameters,the prototype is processed and assembled,and the feasibility experiment of the rotation and vibration of the prototype is carried out.