电动舵机伺服机构动力学特性分析-动力机械及工程专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 万方数据 万方数据 Abstract With the rapid development of the electrical technolongy and the improved electronic equipment, the property of the servo motor was greatly improved. As a result, electronmechanical actuator servo mechanism was widely uesed in a variety of fields, instead of the traditional air-powered servo and hydraulic servo mechanism. At present, most of the research work forcused on the design of the control system and strategy, however, quite a limited work had been done about the dynamic characteristics of the servo mechanism. Therefor based on the three-dimensional model of the electromechanical actuator servo mechanism, this article did some analysis on the kinematics characteristics of the servo mechanism by the way of Rigid Body Dynamics firstly, then did some further work about the static stiffness characteristics and dynamic stiffness characteristics of the parts of the servo mechanism under the condition of elastic bodies, on the other hand, the article also made some primary discussion on the kinematics of planetary roller screw particularly. First of all, it did some special research work on the kinematics characteristics of the planetary roller screw, which work as the core part of the servo mechanism. It set up the simplied three-dimensional model of the planetary roller screw and calculated the stiffness of planetary roller screw from two aspects, including the axial and circuferential movement. For the axial movement, it transform the planetary roller screw into a special spring network diagram by the way of direct stiffness method. Through the transformation, the various stiffness of the thread contact can be equivalent to the stiffness of the spring, hence it show the derivation process from the axial force to the displacement of the spring node, which can be used to calculate the axial deformantion of the whole roller screw mechanism and compared with the result of the finite element method analysis, to veraf