|
Abstract: One
new kind of invented transmission type of spherical gear called ring
involute spherical gear mechanism is introduced. Compared to famous
Trallffa spherical gear, one of the two main features of this new
spherical gear is its involute tooth profile, the other one is its ring
tooth distributed continuously on the surface of sphere. Which makes the
gear overcome two disadvantages of Trallffa spherical gear: the
principle error and difficulty in manufacturing. The new transmission
and the formation principle of the tooth’s surface of new spherical gear
mechanism are first introduced, then another new mechanism, called disk
rack, is introduced, which is derived from spherical gear mechanism,
when one of spherical gear’s tooth number go to infinite. In order to
research conveniently, every part of new spherical gear mechanism is
named. In the following part, some problems are discussed, such as the
assembly form, the construction characteristics of new mechanism and the
correct meshing condition, the continuum transmission condition and so
on. Further more, the surface formula of the conjugate teeth profiles is
deduced, which proves that the conjugate teeth profiles of ringed
involute spherical gear is also one of ringed involute spherical gear.
In order to analyze the relationship between two coordinate systems,
which is attached respectively to diving spherical gear and driven
spherical gear, the method called orientation cosine matrix is utilized.
By series rotational transformation, the kinematics model and inverse
kinematics model are deduced. Using the method for calculating
transmission ratio of planet gear train, the relationship of two
oscillating angle between output axis and bracket is found up. Based on
the research above, the kinematics graphic simulation of spherical gear
mechanism and disk rack are made respectively, the results prove
correctness of the kinematics model.
Key words: Mechanism Robot Spherical gear transmission Kinematic
analysis Simulation
CLC No: TG156
国家自然科学基金资助项目(50475058, 59275159).
Received 20040722, received in revised form 20041208
|