Research on Dynamic Simulation and Load Capacity of Cycloid Reducer

NguyenThaiDuong TV pdf 10286 TH11 U D C 621 123796 2015 6 30 RESEARCH ON DYNAMIC SIMULATION AND LOAD CAPACITY OF CYCLOID REDUCER A Thesis Submitted to Southeast University For the Academic Degree of M[.]

ᆖṑԓ⸱˖ 10286

࠶㊫ਧ˖ TH11

ᇶ 㓗˖ ޜᔰ

U D C˖ 621

ᆖ ਧ˖ 123796

᩼㓵䪾䖤ࠅ䙕ᵰⲺ࣑ࣞᆜԵⵕ

ሬ ᐸ ဃ ਽˖䱾Ӈ伔ᮏᦾ

⭣䈧ᆖս㊫࡛ᐛᆜ⺋༡ ᆖսᦸҸঅս ђ঍ཝᆜ а㓗ᆖ、਽〠ᵰỦᐛぁ 䇪᮷ㆄ䗙ᰕᵏ ᒪ ᴾ ᰛ

Ҽ㓗ᆖ、਽〠 ᵪỠ䇮䇑৺⨶䇪  ᆖսᦸҸᰕᵏ ᒪᴾᰛ ㆄ䗙ငઈՊѫᑝ⧁㣩ᮏᦾ 䇴 䰵 Ӫ



2015 ᒤ 6 ᴸ 30 ᰕ

᩶㓯䪸䖞߿䙏ᵪⲴࣘ࣋ᆖԯⵏ৺᢯䖭㜭࣋⹄ウ



⹊ガ⭕ဉ੃φ 䱞ཚ䱣

ሲ ᐾ ဉ ੃φ 䱸Ӂ伎ᮉᦸ ˊˊ

RESEARCH ON DYNAMIC SIMULATION AND LOAD

CAPACITY OF CYCLOID REDUCER

A Thesis Submitted to Southeast University For the Academic Degree of Master of

Engineering

BY Nguyen Thai Duong

Supervised by CHEN Yun-Fei

School of Mechanical Engineering

Southeast University

, 2015



ђ ঍ ཝ ᆜ ᆜ փ 䇰 ᮽ ⤢ ࡑ ᙝ ༦ ᱄ 

ᵜӪ༠᰾ᡰ੸ӔⲴᆖս䇪᮷ᱟᡁњӪ൘ሬᐸᤷሬл䘋㹼Ⲵ⹄ウᐕ֌৺ਆᗇⲴ⹄ウᡀ᷌DŽቭᡁᡰ

⸕ˈ䲔Ҷ᮷ѝ⢩࡛࣐ԕḷ⌘઼㠤䉒Ⲵൠᯩཆˈ䇪᮷ѝнवਜ਼ަԆӪᐢ㓿ਁ㺘ᡆ᫠߉䗷Ⲵ⹄ウᡀ᷌ˈ ҏнवਜ਼Ѫ㧧ᗇьইབྷᆖᡆަᆳᮉ㛢ᵪᶴⲴᆖսᡆ䇱Җ㘼֯⭘䗷ⲴᶀᯉDŽоᡁа਼ᐕ֌Ⲵ਼ᘇሩᵜ

⹄ウᡰڊⲴԫօ䍑⥞൷ᐢ൘䇪᮷ѝ֌Ҷ᰾⺞Ⲵ䈤᰾ᒦ㺘⽪Ҷ䉒᜿DŽ

⹄ウ⭏ㆮ਽˖ ᰕᵏ˖

ђ ঍ ཝ ᆜ ᆜ փ 䇰 ᮽ ֵ ⭞ ᦾ ᵹ ༦ ᱄ 

ьইབྷᆖǃѝഭ、ᆖᢰᵟؑ᚟⹄ウᡰǃഭᇦമҖ侶ᴹᵳ؍⮉ᵜӪᡰ䘱Ӕᆖս䇪᮷Ⲵ༽ঠԦ઼⭥ ᆀ᮷ẓˈਟԕ䟷⭘ᖡঠǃ㕙ঠᡆަԆ༽ࡦ᡻⇥؍ᆈ䇪᮷DŽᵜӪ⭥ᆀ᮷ẓⲴ޵ᇩ઼㓨䍘䇪᮷Ⲵ޵ᇩ⴨ а㠤DŽ䲔൘؍ᇶᵏ޵Ⲵ؍ᇶ䇪᮷ཆˈݱ䇨䇪᮷㻛ḕ䰵઼ُ䰵ˈਟԕޜᐳ˄वᤜԕ⭥ᆀؑ᚟ᖒᔿ࠺ⲫ˅ 䇪᮷Ⲵޘ䜘޵ᇩᡆѝǃ㤡᮷᪈㾱ㅹ䜘࠶޵ᇩDŽ䇪᮷Ⲵޜᐳ˄वᤜԕ⭥ᆀؑ᚟ᖒᔿ࠺ⲫ˅ᦸᵳьইབྷ ᆖ⹄ウ⭏䲒࣎⨶DŽ

⹄ウ⭏ㆮ਽˖ ሬᐸㆮ਽˖ ᰕᵏ˖

Abstract

I

᪈㾱

䘁ᒤᶕ᩶㓯䪸䖞߿䙏Րࣘ䎺ᶕ䎺ᒯ⌋ൠᓄ⭘ҾᵪಘӪǃ㡚オ㡚ཙ઼ᮠ᧗ᵪᒺㅹ㍗ࠁ 㔃ᶴ亶ฏѝˈ䘲ᓄ਴ᐕъ亶ฏⲴਁኅ㾱≲ԕ㜭Ր䙂䖳བྷⲴᢝ⸙DŽᵜ᮷ѫ㾱ሩнᆼޘ᩶㓯 Ҽ⅑व㔌߿䙏ᵪ䘋㹼ࣘ࣋ᆖԯⵏ৺᢯䖭㜭࣋⹄ウDŽ

ᵜ᮷ѫ㾱Ӿԕлࠐњᯩ䶒ሩᯠර߿䙏ᵪ䘋㹼Ҷ⹄ウ:

˄1˅ሩнᆼޘ᩶㓯Ҽ⅑व㔌ޡ䖝ஞਸ࢟䘋㹼࠶᷀ˈӻ㓽Ҷަ喯ᔃᖒᡀᯩ⌅઼ᴢ㓯

ᯩ〻ˈ䇘䇪Ҷнᆼޘ᩶㓯Ҽ⅑व㔌ޡ䖝ஞਸ࢟Ⲵ⢩⛩DŽ

˄2˅ሩнᆼޘ᩶㓯Ҽ⅑व㔌߿䙏Րࣘѫ㾱䴦䜘ԦⲴสᵜ৲ᮠ䘋㹼Ҷ䇮䇑䇑㇇ԕ⺞ ᇊާփⲴ㔃ᶴ઼ࠐօቪረDŽ❦ਾሩ਴䴦䜘Ԧ䘋㹼й㔤ᇎփᔪ⁑ˈᒦṩᦞ䴦䜘ԦⲴ⴨ሩս 㖞ޣ㌫ሩ⁑ර䘋㹼㲊ᤏ㻵䝽ᒦᖒᡀ㻵䝽⁑රDŽ

˄3˅䟷⭘ ANSYS Workbench 䖟Ԧሩ߿䙏ᵪ䗃ޕ䖤઼᩶㓯䖞䘋㹼Ҷ⁑ᘱ࠶᷀䇑㇇ˈ ᗇࡠ䴦ԦⲴ਴䱦仁䉡⢩ᙗ৲ᮠˈѪ߿䙏ಘᮤᵪ㲊ᤏṧᵪⲴࣘ࣋ᆖ࠶᷀ᨀ׋Ҷሩ∄࠶᷀৲

ᮠDŽ

˄4˅䟷⭘ ADAMS 䖟Ԧሩᮤᵪ൘പᇊ䖜䙏л࠶࡛ሩᓄҾオ䖭ᶑԦ઼┑䖭ᶑԦлⲴ 䘀ࣘᆖ⁑ර䘋㹼Ҷԯⵏ䇑㇇ˈᗇࡠѫ㾱䴦䜘ԦⲴ仁䉡⢩ᙗᴢ㓯ˈо㓿ᴹ䲀ݳ࠶᷀䇑㇇ᗇ ࡠⲴ⁑ᘱ࠶᷀㔃᷌䘋㹼∄䖳˗ᒦ䟷⭘ ANSYS Workbench 䖟Ԧሩѫ㾱䴦䜘ԦⲴᇎփ⁑ර 䘋㹼ࣘ࣋ᆖ࠶᷀ˈ㔃᷌㺘᰾䈕ᯠර߿䙏ᵪⲴ㔃ᶴᕪᓖ┑䏣䇮䇑㾱≲DŽ❦ਾˈሩй⿽߿䙏 ᵪ䘋㹼ࣘ࣋ᆖሩ∄ˈ㔃᷌㔉ࠪᶕҶнᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪሩᓄ࣋ᯩ䶒઼䘀ࣘᆖᯩ䶒 䜭ᱮ⽪ᴤՈ䎺DŽሩҾަԆ਼㊫ᵪỠⲴ߿䙏ᵪⲴ㔃ᶴ䇮䇑⹄ウҏᴹаᇊⲴ৲㘳ԧ٬DŽ

˄5˅ሩᨀ儈᢯䖭㜭࣋䘋㹼Ҷ⹄ウDŽᵜ᮷㘳ሏҶࠐօ৲ᮠሩ᢯䖭㜭࣋Ⲵᖡ૽ˈᒦሩ нᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪ㲊ᤏṧᵪ㔃ᶴ䘋㹼ՈॆDŽ

ޣ䭞䇽˖нᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪ ˗ ࣘ࣋ᆖ ˗ ᢯䖭㜭࣋˗Workbench˗ADAMSDŽ

Abstract

III

$EVWUDFW

In recent years, cycloid reducer has been used widely in the field of compact structures, such as the robot, aerospace, CNC machine tools and so on In order to adapt to the development of various industrial fields for cycloid drive transferring large torque requirements, this paper mainly completes works include providing the design method for new drive and completing the research on dynamic simulation and load capacity of virtual prototype

This paper researches the following aspects of the cycloid reducer:

(1) The incomplete double-enveloping conjugated tooth pair is analyzed, the formation method and the curve equation of tooth profile are describedˈthen features of the incomplete double-enveloping conjugated tooth pair is discussed

(2) The basis parameters and dimensions of main parts of the cycloid reducer are designed to determine specific structure and geometry parameters, then the three - dimensional solid model of the reducer is built in Pro/E software and the virtual assembly models are also built

by analyzing the relative position of every part

(3) For the purpose of analyzing the dynamics performance of main parts, the finite element modal analysis of input shaft and cycloid wheel are done in ANSYS Workbench software and the major modals of two parts are extracted after calculation

(4) By importing the virtual model built in Pro/E software into ADAMS software system and defining the working condition, the virtual prototype is built, and the analysis of all kinds of working conditions in unload or full-load is finished to obtain the kinematics performance of cycloid reducer and to compare kinematics characteristic of its main parts At the same time,

by importing the key parts in Pro/E software into ANSYS Workbench software system and defining the working condition is built, the analysis of working condition in full-load is done

to obtain the transient dynamic performance of new cycloid reducer and to inspect the strength of its main parts After that, three kinds of drive are compared, there are also certain reference values for the study of designing other similar mechanical cycloid reducers

(5) In order to optimize new reducer’s load capacity, this paper examines the influence of geometrical parameters on it and therefore new reducer virtual prototype structure can be completed

Key words˖Incomplete double-enveloping cycloid reducer; dynamic; load capacity; Workbench; ADAMS

ⴞᖅ

V

ⴤᖋ

᪈㾱 I Abstract III

ⴞᖅ V

ㅜаㄐ 㔚䇪 1

1.1 䇪᮷⹄ウⲴ᜿ѹ 1

1.2 ⹄ウ⧠⣦ 3

1.3 䇪᮷Ⲵѫ㾱⹄ウ޵ᇩ 8

ㅜҼㄐ нᆼޘ᩶㓯喯ᔃ࠶᷀ 9

2.1 Ҽ⅑व㔌᩶㓯ஞਸ࢟Ⲵᾲᘥ 9

2.2 нᆼޘ᩶㓯Ҽ⅑व㔌᩶㓯ஞਸ࢟Ⲵᾲᘥ 12

2.3 ሿ㔃 15

ㅜйㄐ нᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪⲴ㔃ᶴ 17

3.1 ᐕ֌৏⨶ 17

3.2 ߿䙏ᵪสᵜ৲ᮠ৺ࠐօቪረ 17

3.3 ᩶㓯䪸䖞߿䙏ᵪⲴй㔤ᇎփᔪ⁑ 19

3.4 ሿ㔃 21

ㅜഋㄐ ѫ㾱䴦ԦⲴ⁑ᘱ࠶᷀ 23

4.1 ⁑ᘱ࠶᷀ㆰӻ 23

4.2 䗃ޕ䖤Ⲵ⁑ᘱ࠶᷀ 23

4.3 нᆼޘ᩶㓯䖞Ⲵ⁑ᘱ࠶᷀ 25

4.4 ሿ㔃 27

ㅜӄㄐ нᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪⲴࣘ࣋ᆖ࠶᷀ 29

5.1 สҾ ADAMS 䖟ԦⲴнᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪ䘀ࣘᆖ࠶᷀ 29

5.2 สҾ Workbench 䖟ԦⲴнᆼޘ᩶㓯Ҽ⅑व㔌߿䙏ᵪࣘ࣋ᆖ࠶᷀ 35

5.3 й⿽߿䙏ᵪ∄䖳 38

5.4 ሿ㔃 41

ㅜޝㄐ ࠐօ৲ᮠሩ᢯䖭㜭࣋Ⲵᖡ૽ 43

6.1 ٿᗳ⦷ሩ᢯䖭㜭࣋Ⲵᖡ૽ 43

6.2 䪸喯ॺᖴሩ᢯䖭㜭࣋Ⲵᖡ૽ 43

6.3 䬰䖤ᆄⲴᮠⴞሩ᢯䖭㜭࣋Ⲵᖡ૽ 44

6.4 䬰䖤ᆄⴤᖴሩ᢯䖭㜭࣋Ⲵᖡ૽ 45

ьইབྷᆖ⺅༛ᆖս䇪᮷

VI

6.5 ޵᩶㓯喯䖞Ⲵཆᖒሩ᢯䖭㜭࣋Ⲵᖡ૽ 46

6.6 ሿ㔃 48

ㅜгㄐ 㔃䇪оᔪ䇞 49

7.1 㔃䇪 49

7.2 ᔪ䇞 49

㠤䉒 51

৲㘳᮷⥞ 53