基于空间螺旋理论的行星滚柱丝杠副自由度计算与分析

基于空间螺旋理论开展行星滚柱丝杠副(PRS,planetary roller screw)机构学分析,综合考虑PRS作为空间螺旋机构的运动特点,建立了PRS机构运动简图。通过修正的G-K公式计算PRS的自由度,从理论上分析系统各构件对机构自由度的影响。通过开展不同数量构件条件下的机构自由度计算分析,对比了单滚柱、单挡圈条件下机构自由度,得出了增加滚柱与挡圈的数量对于机构自由度的运动特性的影响。理论计算结果在一定程度上揭示了PRS运动学原理。

Calculation and analysis of planetary roller screw deputy freedom based on spatial screw theory

The analysis of the planetary roller screw (PRS) mechanism is carried out based the theory of spatial screw. The kinematic sketch of PRS mechanism is established with consideration given to the characteristics of the spatial screw mechanism. The degree of freedom (DOF) of the PRS is calculated according to the modified G-K formula, and the effects of all the elements of the mechanism on its DOF are investigated theoretically. The DOF of the mechanism with different numbers of rollers and rings is calculated and analyzed. The comparative analysis of the DOF of the mechanism with single roller and ring shows that the increase of the number of rollers and rings has an effect on the kinematic characteristics of this mechanism. The theoretical analysis reveals the principles of the PRS kinematics to a certain extent.