Design and Analysis of Continuously Variable Transmission based on Nested Structure

Jianming Shen; Jinfu Liu; Juan Li; Shouqi Chen; Linsen Xu; Zhengyan Jiang; Zhipeng Liu; Xingcan Liang

doi:10.16578/j.issn.1004.2539.2022.03.008

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Design and Analysis of Continuously Variable Transmission based on Nested Structure

Design· Calculation | 更新时间：2022-09-24

- Design and Analysis of Continuously Variable Transmission based on Nested Structure
- Journal of Mechanical Transmission Vol. 46, Issue 3, Pages: 50-55(2022)
- 作者机构：
  
  1.常州工业职业技术学院智能控制学院，江苏常州 213164
  2.中国科学技术大学工程科学学院，安徽合肥 230026
  3.河海大学机电工程学院，江苏常州 213022
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.03.008
  CLC：
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沈建明,刘进福,李娟等.基于嵌套结构的无级变速器设计与分析[J].机械传动,2022,46(03):50-55.

Shen Jianming,Liu Jinfu,Li Juan,et al.Design and Analysis of Continuously Variable Transmission based on Nested Structure[J].Journal of Mechanical Transmission,2022,46(03):50-55.
沈建明,刘进福,李娟等.基于嵌套结构的无级变速器设计与分析[J].机械传动,2022,46(03):50-55. DOI： 10.16578/j.issn.1004.2539.2022.03.008.

Shen Jianming,Liu Jinfu,Li Juan,et al.Design and Analysis of Continuously Variable Transmission based on Nested Structure[J].Journal of Mechanical Transmission,2022,46(03):50-55. DOI： 10.16578/j.issn.1004.2539.2022.03.008.

摘要

目前，机器人关节减速机均为定比传动方式，造成关节电机难以达到峰值效率。基于嵌套结构，提出了一种机器人用紧凑型的无级变速器，通过实时改变传动比，可有效提高电机功率使用效率。首先，开展了变速传动机理研究，得到了传动比相对于行星轮与太阳轮半径之比的关系；设计了嵌套结构以及行星轮、太阳轮板轴向移动系统。其次，推导了行星轮、太阳轮包角、传动比以及金属带径向移动数学模型，基于多刚体动力学仿真软件对变速器的输出速度进行了仿真验证；结果表明，变速器正、反向偏差分别为1.89%、3.87%。最后，制作出变速器的原理样机并搭建转矩实验平台，设定输出转矩为特定值，测试了对应输入转矩；实验显示，测试数值与理论数值相比基本相同，平均传动效率为72.1%，间接验证了理论推导的正确性。

Abstract

At present，robot joint reducers are all constant transmission ratio，which makes it difficult for the motor to reach peak efficiency. Based on the nested structure，a compact continuously variable transmission （CVT） for robots is proposed，which can effectively increase the power usage of the motor by changing the transmission ratio in real time. Firstly，the mechanism of variable speed transmission is studied to obtain the relationship between transmission ratio and the ratio of planetary gear to sun gear radius，and the nested structure and the axial movement system of planetary gear and sun gear plate are designed. Secondly，the mathematical models of envelope angle on planetary and sun gear，transmission ratio，and radial movement of metal belt are deduced. Based on the multi-rigid-body dynamics simulation software，the output speed of the CVT is verified to show that the forward and reverse deviations of the transmission are 1.89% and 3.87% respectively. Finally，the principle prototype of the CVT is manufactured and the torque experiment platform is built，and the output torque is set to a specific value to test the corresponding input torque. The experiment shows that the test value is basically the same as the theoretical value，and the average transmission efficiency is 72.1%，which indirectly verifies the correctness of the theoretical derivation.

关键词

无级变速器嵌套结构传动比行星轮太阳轮

Keywords

CVTNested structureTransmission ratioPlanetary gearSun gear

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