面向小型移动机器人的无级变速器的分析-机械工程专业毕业论文.docxVIP

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 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 - - PAGE IV - - - III - Abstract Small mobile robots have a wide range of applications on both the military and civilian. Transmission acts as a key part of small mobile robot drive,which has a decisive impact on speed, efficiency and load capacity. CVT can continuously change the transmission ratio，so it has the advantage of making small mobile robots adjust to complex road conditions. However, a small mobile robot requires that the CVT should have small size and light weight, which make most of the existing CVT not able to be used directly. There is rare study on CVT oriented to small mobile robots in either China or other countries. Besides, transmission abroad costs too much and is uneasy to purchase. So it is meaningful and necessary to do research on CVT oriented to small mobile robots. The main purpose of this paper is to designing and doing research on CVT that can be used on small mobile robots and to conducting quasi-static analysis, modal analysis, thermal structure coupling analysis and performance testing. Firstly, based on the theory of face friction, the structural of CVT was d esigned, including the main drive, the clamping device, and the speeder. In order to make face friction drive well used in the CVT, a new ferry was designed, so that the driving force could be reduced. The rolling friction was analyzed and calculated, and the calculation of time to promote was deduced. Secondly, we conducted quasi-static analysis, modal analysis, and thermal structure coupling analysis on the face friction of CVT. The qualitative analysis during friction drive was done and a suitable model for calculating the friction was found. The quasi-static analysis of main components was done.Then results of the contact stress and strain diagram were got, showing that strength and stiffness of material were enough. The finite element method was used to get ten natural frequencies and mod