摆线钢球行星传动自由振动分析

为准确反映摆线钢球行星传动的固有特性，建立了平移-扭转耦合动力学模型，求解了载荷作用时各构件相对位移量，并推导出动力学微分方程，获得了自由振动特征方程，得到了系统固有频率及主振型。分析了结构参数对固有频率的影响，并对理论研究进行了验证。结果表明：机构具有系统全振动模态、输出轴静止振动模态与输出轴扭转振动模态，传动比对固有频率的影响具有不确定性，输出轴支承刚度是影响固有频率的重要参数，验证了理论研究的正确性。

Analysis of Free Vibration of Cycloid Ball Planetary Transmission

In order to reveal the inherent characteristics of cycloid ball planetary transmission accurately, a translational-torsional coupling dynamics model of precision ball transmission was proposed. The relative displacement amount of each component was solved with load. Dynamics of differential equations were deduced, free vibration characteristic equation was given, and the natural frequency and principal modes were obtained. The impacts on the natural frequency of structure parameters was analyzed. Theoretical research was carried out to prove the experiments. The results show that: the mechanism has system-wide vibration mode, the output shaft stationary vibration mode and the output shaft torsional vibration mode; the influence of transmission ratio on natural frequency is uncertain; the output shaft bearing stiffness is a very important parameter of natural frequency that affects the natural frequency; and the correctness of theoretical deduction is verified by experiments.