| 引用本文: | 李庆凯,唐德威,姜生元,邓宗全.键合图理论在三轴差动机构效率分析中的应用[J].哈尔滨工业大学学报,2011,43(11):44.DOI:10.11918/j.issn.0367-6234.2011.11.010 |
| LI Qing-kai,TANG De-wei,JIANG Sheng-yuan,DENG Zong-quan.Application of bond graph to the efficiency analysis of tri-axial differential mechanism[J].Journal of Harbin Institute of Technology,2011,43(11):44.DOI:10.11918/j.issn.0367-6234.2011.11.010 |
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| 摘要: |
| 为了更好地对三轴差动机构的传动效率进行分析计算,利用键合图功率流动的特点,将键合图理论应用到三轴差动机构功率流的分析中.根据三轴差动机构的传动关系,采用绝对速度法,建立其在速度约束下的键合图模型,并进行相应的仿真计算,得到三轴差动机构在不同速度约束下的内部功率流以及各差速器转换机构的功率流情况.仿真结果表明:三轴差动机构属于功率汇流型机构,无循环功率存在,不存在自锁的可能性.以得到的功率流情况为基础,进行三轴差动机构的力矩传递特性分析以及传动效率的计算.该方法比传统方法更具系统性,便于使用计算机求解. |
| 关键词: 三轴差动机构 键合图 轮系 功率流 效率 |
| DOI：10.11918/j.issn.0367-6234.2011.11.010 |
| 分类号:TH112 |
| 基金项目:国家高技术研究发展计划资助项目(2006AA04Z236);机器人技术与系统国家重点实验室自主研究课题(SKLRS200802C);高等学校学科创新引智计划资助项目(B07018) |
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| Application of bond graph to the efficiency analysis of tri-axial differential mechanism |
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LI Qing-kai, TANG De-wei, JIANG Sheng-yuan, DENG Zong-quan
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State Key Laboratory of Robotics and System,Harbin Institute of Technology,150001 Harbin,China
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| Abstract: |
| To carry out the analysis and calculation of the transmission efficiency of tri-axial differential mechanism better,the theory of bond graph is applied to the analysis of power flow of the tri-axial differential mechanism utilizing the characteristic of power fluxion of bond graph.According to the transmission relationship and method of absolute speed,the bond graph model of the mechanism restricted by speed is established.The status of the internal power flow of the tri-axial differential mechanism,as well as the power flow of the conversion mechanism of the differentials,is got by simulation.The result of the simulation shows that the tri-axial differential mechanism belongs to the power conflux mechanism,and there is no circulated power and no possibility of self-locking.Based on the result of power flow,the transmission torque is analyzed,and the efficiency can be computed easily.This method is more systematic than the traditional method,and is convenient to be solved by computer. |
| Key words: tri-axial differential mechanism bond graph gear train power flow efficiency |
