The Dynamic analysis of Planetary roller screw in Tree-climbing robot

摘要

Abstract In the tree-climbing robot, the sawing module is lifted and lowered by the planetary roller lead screw, so the dynamic analysis of the planetary roller lead screw is very important. In this paper, the stiffness of the mechanical joint of planetary roller lead screw is calculated according to the fractal theory, and the stiffness calculation formulas between roller and ring gear, roller and lead screw are obtained. In the dynamic simulation, the stiffness of each contact pair is set according to the formula, and two groups of models with consistent and inconsistent roller contact stiffness are established. The first six order modal analysis results of the two groups of models are compared, and the influence of uneven roller contact stiffness distribution on the whole planetary roller lead screw is obtained.