东北大学学报（自然科学版）

东北大学学报:自然科学版 ›› 2016, Vol. 37 ›› Issue (9): 1269-1273.DOI: 10.12068/j.issn.1005-3026.2016.09.012

• 机械工程 • 上一篇    下一篇

一种新型差动驱动A/B双摆头设计

孙龙飞， 房立金   

  1. (东北大学 机械工程与自动化学院， 辽宁 沈阳110819)
  • 收稿日期:2015-06-03 修回日期:2015-06-03 出版日期:2016-09-15 发布日期:2016-09-18
  • 通讯作者: 孙龙飞
  • 作者简介:孙龙飞(1987-)，男，辽宁沈阳人，东北大学博士研究生； 房立金(1965-)，男，辽宁沈阳人，东北大学教授，博士生导师.
  • 基金资助:
    国家自然科学基金资助项目(51575092)； 辽宁重大装备制造协同创新中心项目； 辽宁省高等学校创新团队项目(LT2014006).

Design of A Novel A/B Bi-rotary Head Based on Differential Drive

SUN Long-fei， FANG Li-jin   

  1. School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.
  • Received:2015-06-03 Revised:2015-06-03 Online:2016-09-15 Published:2016-09-18
  • Contact: FANG Li-jin
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摘要： 设计了一种可用于五轴联动加工中心的新型差动式A/B轴双摆头结构.该双摆头采用4台伺服电机驱动，基于差动机构的工作原理实现摆头的摆动和俯仰运动.双摆头的驱动电机及蜗轮蜗杆减速装置均不参与摆头运动，与现有典型的双摆头结构相比，有效减少了摆头运动部件数量.采用双电机主从消隙控制方法，能有效消除摆头两个自由度的传动间隙，进而提高其运动精度.对差动双摆头的传动、消隙和结构等方面的特点进行了分析，为后续工程设计提供了理论基础.

关键词: A/B双摆头, 差动驱动, 传动间隙, 消隙控制, 偏置力矩

Abstract: A novel structure of differential A/B bi-rotary head was designed， which can be used for five-axis machine centers. The heads were driven by four servo motors. Pitching and tilting motions were achieved through controlling angle and velocity of the motors. The motors and reducers were fixed on the machine body. The structure of motion parts was more simplified than that of the typical A/B bi-rotary head. The backlash of the head was eliminated owing to the dual-motor master-slave control method being used， and the motion accuracy of the head was improved. Transmission characters， backlash eliminating method and structural characters of the head were analyzed， and the results provide an important theoretical basis for the design of A/B bi-rotary head.

Key words: A/B bi-rotary head, differential drive, backlash, anti-backlash control, bias torque

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