Modular Dynamic Modeling Investigation of Multi-Stage Planetary Gears for Space Manipulator Joints

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Ren, Fei^1 ; Yang, Taoli^2 ; Li, Ansheng^1 ; Shi, Guiqin^1 ; Wu, Chao^1 ; Guo, Zhiqiang^1 ; Zhu, Rumin^1 ; Wang, Ning^3

Zhengzhou University of Light Industry, Zhengzhou

450002, China^1

PetroChina Tarim Oilfield Company, XinJiang, Korla

841000, China^2

Underground Space Design and Research Institute, China Railway Engineering Equipment Group Co. Ltd, Zhengzhou

450016, China^3

关键词: Dynamic behavior analysis;    Meshing stiffness;    Modular;    Multi-stage planetary gears;    Planetary transmission;    Space manipulators;    Traditional models;    Transmission schemes;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/2/022151/pdf
DOI  :  10.1088/1757-899X/452/2/022151

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In order to overcome the shortcomings of the traditional modeling method, a modular modeling approach for the space manipulator joint transmission system in this paper is proposed. In the first place, the multi-stage planetary transmission system for the space manipulator joint is divided into several sub-modules, and the sub-modules of each level are established by considering the factors such as meshing stiffness, meshing errors and so on. In the second place, the dynamic differential equations of the multi-stage planetary transmission system for the space manipulator joint are obtained through the integration of each level modules. The proposed modular modeling approach is convenient for the dynamic behavior analysis and the quick choice of transmission scheme.