Based on bond graph theory, a dynamic analysis model of planetary roller screw mechanism is presented, in which transmission clearances, contact deformations of threads, torsion and compression deformation of screw, machining errors, load distribution of threads, friction and inertias are taken into consideration. Meanwhile, state equations of the model are given. In this model, to introduce the nonlinear and section properties of contact force and damping force caused by transmission clearances between threads surfaces, the concept of switched power junctions using clearance as the signal is employed, and the influence of friction on dynamic characteristics of planetary roller screw mechanism is considered based on the LuGre model. Taking a planetary roller screw mechanism as the example, the step response of velocity is compared with the result from Adams simulation, which verifies the effectiveness of the model. Then, The influence of rotation speeds of screw and slide roll ratios on friction response characteristics, and the influence of transmission clearances and machining errors on stiffness characteristics are investigated. The results can help to improve the dynamic accuracy and stability of planetary roller screw mechanisms.
Key words
planetary roller screw mechanism /
bond graph /
dynamic characteristic /
dynamic stiffness
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References
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