Design And Lightweight Structure Research Of A Space Manipulator Based On Movable Teeth Transmission

As the delivery of new small teeth difference planetary transmission between two coaxial rotary motion, the swinging movable teeth drive has the advantages of compact structure, high transmission ratio, strong bearing capacity and high transmission efficiency, received increasing attention. But as a new type of transmission, its theoretical research and practical application is not perfect. This article from the engagement theory, kinematics, strength analysis, optimization design and other aspects of swinging movable teeth transmission conducted a series of discussions and research. To apply manipulator swing teeth reducer for the study, carried out the following work areas:(1)According to the design requirements, the form of movable teeth reducer have been analyzed,the formation of double swing movable teeth transmission and structure have determined.The ratio of different transmission types have been calculated, through analysis and comparison, the design of high power, large transmission ratio two-stage swing movable teeth transmission have been determined.(2) According to the deformation compatibility conditions, force analysis model of swinging movable teeth transmission has been established, the analysis value of the contact force has been calculated.The motion of movable teeth transmission mechanism has been simulated, the swinging movable teeth angular velocity, angular acceleration cyclical changes. The slip ratio of center wheel changes stably and swinging movable teeth changes unstably, it causes premature wear swinging movable teeth glue and then failure. Through the two-stage gear reducer live 3D solid modeling, the relationship of the assembly has been verified.(3) Center wheel, surge wheel and movable teeth are the main factors influencing the working performance. According to the design of the movable teeth transmission structure, the bearing capacity of the finite element analysis model have been established, under the given conditions, the stress and strain of the movable teethe, center wheel, surge wheel have been analyzed. The position where the part easy failure during the work process.(4) The topology optimization of the surge wheel have been done and have got the optimal relation between the bearing capacity and the mass of the movable teeth reducer. The optimized structure scheme have been put forward so as to provide the theoretical support for the light weight of the movable teeth transmission structure. Before and after optimization comparative analysis shows that overall volume decreases 9.95%,weight reduction 2.03kg.