The kinematics and rigid-body dynamics theoretical analysis of the WWW differential (also known as the external meshing spur gear differential) composed with cylinder gears was deduced in same gear form of sun gear and planetary gear. The kinematic and dynamic simulation by ADAMS was presented in the same condition. The kinematics theoretical analysis obtained the reciprocal relations of the angular speeds of the components. The principle of the two inputs working at difference speed was presented. The dynamics theoretical analysis got the results as following. Firstly, the interaction forces of the components can be derived by two input torques and one load torque. Secondly, the angular accelerated-speeds of two input axes can be derived by two input torques and one load torque. Thirdly, the load torque can be derived by the two input torques and two input angular accelerated-speeds. Lastly, the force amplitudes between of one sun gear and its planetary gears were different from the force amplitudes of the other sun gear and its planetary gears because of their different rotational inertias. The ADAMS simulation results were consistent with theoretical consequences. The theoretical analysis was proved to be correct. The results can be used in performance analysis of differential in case of acceleration and deceleration, and also can be used in performance analysis of the corresponding electromechanical servo actuation system.%对太阳轮和行星轮齿形相同的情况,进行WWW型圆柱齿轮差速器(又称为外啮合正齿轮差速器)的运动学和刚体动力学理论分析与 ADAMS 仿真.运动学理论分析推导出各构件转速之间的相互关系,指出两输入轴可以不同的转速差速运转的原理.动力学理论分析得到:各构件之间的相互作用力与两输入转矩和两输入角加速度之间的关系、输入角加速度与输入转矩和负载转矩的关系、负载转矩与输入转矩和输入角加速度之间的关系、转动惯量大的太阳轮与行星轮之间的力幅值不等于转动惯量小的太阳轮与行星轮之间的力幅值.ADAMS 仿真结果与理论分析结果一致,证明了理论分析的正确性,可用于加减速情况下的差速器的性能分析,进而用于机电伺服作动系统的性能分析.
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