Research On Theory Of Spherical Gear And It's Machining

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...