| 一种冗余驱动用切换传动机构的轮系参数优化 |
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| 引用本文： | 陶建国,李伟超,刘荣强,邓宗全.一种冗余驱动用切换传动机构的轮系参数优化[J].机械设计与制造,2011(6). |
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| 作者姓名： | 陶建国 李伟超 刘荣强 邓宗全 |
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| 作者单位： | 哈尔滨工业大学,机电工程学院,机器人技术与系统国家重点实验室,哈尔滨,150001 |
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| 基金项目： | 国家"863"计划，高等学校学科创新引智计划 |
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| 摘 要： | 航天用的空间展开机构要求其关节驱动系统具有较高的可靠性,采用冗余驱动是提高可靠性的有效措施.提出了二套驱动系统并联的单备份冗余驱动方案,设计了适于该冗余驱动方案的差动轮系式传动机构;为了减少切换传动机构的体积和质量,提高其运动平稳性,以体积最小和转动惯量最小为目标函数,建立了轮系参数的多目标优化模型,并利用线性加权和法对优化模型进行了简化处理,借助Matlab优化工具箱进行了实例优化计算,计算结果验证了优化模型和计算方法的有效性.
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| 关 键 词： | 冗余驱动 差动轮系 多目标优化 |
Gear train parameters optimization of switchable transmission mechanism for redundant drive |
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| TAO Jian-guo,LI Wei-chao,LIU Rong-qiang,DENG Zong-quan.Gear train parameters optimization of switchable transmission mechanism for redundant drive[J].Machinery Design & Manufacture,2011(6). |
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| Authors: | TAO Jian-guo LI Wei-chao LIU Rong-qiang DENG Zong-quan |
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| Affiliation: | TAO Jian-guo,LI Wei-chao,LIU Rong-qiang,DENG Zong-quan(State Key Laboratory of Robotics and System,School of Mechtrionics Engineering,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | It is known that joints of deployable mechanisms used in aerospace needs to be of highreli-ability,while redundant drive is an effective measure for increasing reliability.Therefore,the scheme with twosets of parallel connected drive systems in which one is used to be a backup system is proposed,meanwhilethe differential gear train transmission mechanism for the scheme is designed.In order to reduce the mass andsize of transmission mechanism and achieve robust motion,the multi-object optimization model with... |
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| Keywords: | Matlab |
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