行星滚柱丝杠副动刚度与传动精度耦合机理研究

Aiming at enhancing dynamic stiffness and transmission accuracy of planetary roller screw (PRSM), the theoretical studies of PRSM will be performed, in which the errors mechanism, the mutual action mechanism among slide-roll ratios, errors and clearences, coupling mechanism of dynamic stiffness and transmission accurancy and the influences of slide-roll ratios, errors and clearences on dynamic stiffness and transmission accuracy will be taken into consideration. Firstly, the mechanisms of transmission errors and retracement errors will be illustrated and the computational methods of slide-roll ratios, errors and clearences will be studied. The mutual action mechanism among slide-roll ratios, errors and clearences will be further exposured. Secondly, the models of dynamic stiffness based on the method of distributed parameter and the transmission efficiency considering dynamic contact deformation, errors and clearences will be developed. Based on the coupling mechanism of dynamic stiffness and transmission accurancy,the relationships of slide-roll ratios, errors and clearences on dynamic stiffness and transmission accuracy of the PRSM, and the influences of thread tooth form, structure parameters of thread and different operating conditions on dynamic stiffness and transmission accuracy of the PRSM will be analyzed. Finally, experimental studies on the dynamic stiffness and transmission accuracy will be carried out on the experimental equipment to testify the validity of proposal numerical models. The achievements of this project will provide theoretical basis to design and manufacture of PRSM with higher dynamic characteristics and higher transmission accuracy.

本项目以提高行星滚柱丝杠副（PRSM）动刚度和传动精度为目标，围绕误差产生机理、滑滚比-误差-间隙非线性相互作用机制、动刚度和传动精度耦合机理及滑滚比、误差、间隙对动刚度和传动精度的影响规律等科学问题，开展理论与试验研究。首先，阐明PRSM传动误差和回程误差产生机理，研究滑滚比、误差和间隙计算方法，揭示滑滚比-误差-间隙非线性相互作用机制。其次，基于分离参数方法构建PRSM动刚度计算模型，建立计及动态接触变形、误差和间隙影响的PRSM传动精度计算模型。在探明动刚度和传动精度耦合机理的基础上，研究滑滚比、误差和间隙非线性对PRSM动刚度和传动精度的影响规律，并进一步探究螺纹牙型、结构参数以及不同运行工况对动刚度和传动精度的影响规律。最后，开展PRSM动刚度和传动精度试验，验证所建模型的正确性和有效性。本项目研究成果可为设计并研制出高动刚度和传动精度的PRSM奠定理论基础。

行星滚柱丝杠（PRSM）是一种可将旋转运动转换成直线运动的机械传动机构，具有结构尺寸小、推力大、精度高、寿命长等优点。本项目以提高PRSM动刚度和传动精度为目标，揭示了PRSM误差产生机理、滑滚比-误差-间隙非线性相互作用机制，构建了动刚度和计及动态接触变形、误差和间隙的传动精度计算模型，进一步揭示了动刚度与传动精度耦合机理。搭建了PRSM性能试验台，开展了动刚度和传动精度实验测试，验证了所建模型的正确性。为设计出高动刚度和高传动精度的PRSM奠定了重要理论基础。.研究结果表明，零件的偏心和位置误差会导致PRSM传动误差的周期性波动；当螺母偏心误差较大时，螺母安装角会对传动误差有显著影响；滚柱和保持架的偏心误差对传动误差影响很小。丝杠侧，轴向间隙分布等高线图关于过丝杠和滚柱圆心的直线对称；螺母侧，轴向间隙分布等高线图将关于过螺母和滚柱圆心的直线对称。间隙主要影响PRSM在运动起始阶段的动态特性，而在其他阶段对动态特性的影响较小；滑滚比对摩擦力响应的影响趋势与丝杠输入角速度对其影响趋势相同，载荷频率一定时，动刚度随着间隙的增大而减小，载荷频率越高，间隙对动刚度的影响越大；加工误差越大，动刚度越小，轴向载荷幅值越小，加工误差对动刚度的影响越显著。试验研究对不同工况下的传动误差进行测量，验证了传动误差计算模型；PRSM承载后的传动误差较空载时大大减小，这主要是由于受载之后，各元件产生一定的弹性变形，使各个螺纹接触副之间的载荷更均匀，减小了传动误差的波动。.在本项目的资助下，发表论文22篇，其中SCI收录10篇次，EI收录9篇次。参加国际会议5人次，口头报告5人次。申请国家发明专利5项，授权2项，受理3项。培养博士研究生3人，硕士研究生3人，均已毕业。

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