Kinematic and Static Analyses of Tripod and Rzeppa Constant Velocity Joints and Investigations of Three Dimensional Motion of Its Drive Shaft

前驱汽车的CVJ生产线由三脚架式或双偏置式CVJ、Rzeppa CVJ和传动轴组成。实验分析了CVJ直线的转角误差和传动轴(三脚架轴)的旋转运动及其轴向波动。通过对三脚架式无级变速器壳体轴与传动轴夹角α和Rzeppa CVJ外环轴与传动轴夹角β的几个值的实验结果，揭示了转角误差和三维运动(旋转运动和轴向波动)的特点。转角误差为2π/6周期的正弦。旋转运动的周期分别为2π或2π/6，空间机构由三个圆柱滚子、三个球头蜗杆和三脚架等速关节壳体组成。建立了同时求解圆柱滚子与其沟槽和球端之间摩擦系数的任意值时，作用在蜗杆和壳体上的力和力矩的条件方程组。明确了三脚架式等速关节的静力特性。

CVJ lines of front drive automobiles are composed of the tripod constant velocity joint (CVJ) or the double offset CVJ, the Rzeppa CVJ and the drive shaft. The rotational angle error of the CVJ line and the whirling motion of the drive shaft (the tripod shaft) and its fluctuation of axial direction are analyzed experimentally. From results of experiments with several values of the angle α between the housing shaft of the tripod CVJ and the drive shaft and the angle β between the outer-race shaft of the Rzeppa CVJ and the drive shaft., characteristics of the rotational angle error and the three dimensional motion (the whirling motion and the fluctuation of axial direction) are made clear. The rotational angle error is sinusoidal of 2π/6 period. The whirling motion has the period of 2π or 2π/6 according to the angle β.The closed loop equations of three cylindrical rollers, the spider of three spherical ends and the housing of the tripod constant velocity joints are deduced as the spatial mechanism. A procedure is established for solving simultaneously the set of conditional equations with respect to forces and moments acting on three cylindrical rollers, the spider and the housing, for any values of friction coefficients between cylindrical rollers and its grooves and spherical ends. Then, static characteristics of the tripod constant velocity joints are made clear.