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中文摘要：
为了分析含间隙航天机构传动关节的振动特性，以行星齿轮传动系统为研究对象，提出考虑多间隙耦合的行星齿轮传动关节动力学建模方法。模型中考虑了轴承径向间隙、齿侧间隙以及时变啮合刚度等非线性因素。并通过数值仿真，研究转速、间隙大小以及负载对系统振动特性的影响规律。分析结果表明：由于多间隙的影响，导致系统间各部件的振动存在耦合关系。同时，转速和间隙大小的变化，都有可能引发谐振现象。惯性负载较大时，关节的回转精度和稳定性较好，但处于空载或轻载状态时，系统内部振动幅值增大。
英文摘要：
A dynamic model with multiple clearances of planetary gear joint is proposed to analyze the vibration characteristics. The model includes the coupling relation of multiple clearances in planetary gear joint. It also includes time variation of gear mesh stiffnesses. Then, by using numerical simulation method, the vibration characteristics of planetary gear system influenced by rotational speed, clearance size and inertia load are presented and discussed in frequency domain. The results show that there are complex coupling relationships among different vibrations in system, because the effect of multiple clearances coupled. The resonance phenomenon will occur for changes in rotational speed and clearances＇ size. When the inertia load is relatively large, the joint has high movement accuracy. But the amplitude of vibration in joint is relatively large in empty-load or light-load.
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