Configuration design and performance optimization of planetary gear transmission system for floor grinding robot
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地坪研磨机作为现代地坪施工中的核心装备，其行星齿轮传动系统的性能直接影响整机的作业效率与使用寿命。现有设计方法在地坪研磨机构型综合与传动效率定量评价体系方面存在局限，限制了设备综合性能进一步提升。为此，本文提出一种融合图论构型综合与传动效率导向优选的地坪研磨机行星齿轮传动系统设计方法。基于图论理论，通过高副低代、无效构型筛选及拓扑规范化处理，建立初始单色拓扑图构型库；引入复合铰链与高副约束条件生成多色拓扑图，并经拓扑规范化处理后，运用规范标号法实现多色拓扑图的自动生成与筛选；基于旋量理论构建以传动效率为指标的构型优选模型，综合考虑摩擦损耗、运动特性和载荷传递特性，实现构型性能的定量对比。行星齿轮传动系统Adams仿真与理论模型的对比分析结果显示：在相同工况下，2种方法得到的传动效率变化趋势及构型优选结果呈现高度一致性，效率最大误差不超过5%，证明该设计方法可行有效。
Abstract：As a key equipment in modern floor construction, the performance of the planetary gear transmission system in a floor grinding machine directly influences the overall operational efficiency and service life of the machine. However, existing design methodologies exhibit limitations in the configuration synthesis of floor grinders and the establishment of quantitative evaluation systems for transmission efficiency, thereby constraining further improvements in equipment performance. To address this issue, a design approach for the planetary gear transmission system of floor grinding machines was proposed, which combined graph theory-based configuration synthesis with transmission efficiency-oriented optimization. First, an initial monochromatic topological graph configuration library was established on the basis of graph theory by carrying out high-pair low-substitution, ineffective configuration screening and topological normalization. Furthermore, compound hinge and high-pair constraints were introduced to generate multi-color topological graphs, which were then normalized through topological normalization. The normalized labeling method was subsequently adopted to realize the automatic generation and screening of multi-color topological graphs. Second, a configuration optimization model taking transmission efficiency as the evaluation index was constructed based on screw theory. The model realized quantitative performance comparison of different configurations by comprehensively considering friction losses, motion characteristics, and load transfer characteristics. Finally, comparative analysis between Adams simulation and the theoretical model of the planetary gear transmission system showed that under identical operating conditions, the two approaches achieved high consistency in the variation trend of transmission efficiency and configuration optimization results, with the maximum efficiency error not exceeding 5%. The above results verified the effectiveness of the proposed method.
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基本信息:
DOI：10.13764/j.cnki.ncdg.2026.04.002
中图分类号:TP242;TH132.425
引用信息:
[1]刘宝瑾,叶根翼,吴文朴,等.地坪研磨机机器人行星齿轮传动系统构型设计与性能优化[J].南昌大学学报(工科版),2026,48(04):336-348+422.DOI:10.13764/j.cnki.ncdg.2026.04.002.
基金信息:
泉州市通用计划项目/泉州市揭榜挂帅项目（2025QZGZ06）; 国家自然科学基金青年科学基金项目（52505058）
2026-08-28
2026-08-28