外文翻譯-研究利用差動齒輪系實現(xiàn)機械混合壓力

中文4340字出處：ScienceinChinaSeriesE:TechnologicalSciencesFebruary2007,

Volume50,

Issue1,

pp69-80StudyofutilizingdifferentialgeartraintoachievehybridmechanismofmechanicalpressHEYuPeng1?,ZHAOShengDun2,ZOUJun2&ZHANGZhiYuan21SchoolofMechanicalEngineering,NanjingUniversityofScience&Technology,Nanjing210094,China;2SchoolofMechanicalEngineering,Xi’anJiaotongUniversity,Xi’an710049,ChinaTheproblemsofhybridinputofmechanicalpressarestudiedinthispaper,withdifferentialgeartrainastransmissionmechanism.Itisproposedthat“adjustable-speedamplitude”or“differential-speedratio”istheimportantparametersforthehybridinputmechanism.Itnotonlydefinestheamplitudeoftheadjustablespeed,butalsodeterminestheratioofthepoweroftheservomotortothepoweroftheconventionalmotor.Thecalculatingequationsoftheratiooftransmissioninallaxes,thepoweroftwomotors,andtheworkingloaddistributionarededuced.Thetwokindsofdrivingschemesareputforwardthattheservomotorandtheconventionalmotorsimultaneouslydriveandtheservomotorandtheconventionalmotorseparatelydrive.Thecalculatingresultsdemonstratethatthelatterschemecanusemuchlowerpoweroftheservomotor,sothisschememakesmanufactureandusecostmuchlower.Thelatterschemeproposesafeasiblewaytoapplythehybridmechanismofmechanicalpressinpracticeengineering.mechanicalpress,hybridmechanism,differentialgeartrain,adjustable-speed1IntroductionAtpresenttherearemanyresearchpapersaboutthehybridmechanismofmechanicalpress,andithasbecomeahotresearchtopic.Thehybridmechanismisamechanismwith2-degree-offreedom(alsocalleddifferentialspeedmechanism),andwhentwoindependentmotionsareinputatthesametime,theoutputthatcansatisfysomemotionrequirementsisobtainedthroughthemotioncompositionofthemechanism.Thehybridmechanismisalsocalledcontrollablemechanism,orhybridmachine.Thepurposeofresearchonhybridmechanismofmechanicalpressisusingconventionalmotorwithbigpowercarryingflywheeltofinishstampingworkpieces;andusesser—vomotorwithlowpowertoadjustthesliderspeed.Theadvantagesofthehybridmechanismappliedinthemechanicalpressarethatitnotonlycanreducemuchlowermanufacturingcostthanservopress,butalsohasaflexibleworkingvelocityofslider[1].Sothemechanicalpressofhybridmechanismarousesmanyresearchers’interestinworkingonit;andthesestudiesaremainlyfocusedonthemulti-barhybridmechanism.DuandGuo[1,2]havecomprehensivelydiscussedtheseven-barhybridmechanismofmechanicalpress,includingthefeasibleconditionsofcompositionofthelinkagemechanism,theslidermotionanalysis,andthetorqueandpowerdistributionbetweenthetwomotorsaswellastheoptimaldesign.Thetrajectoryplanningbasedonpolynomialinterpolationisalsoinvestigated,andthecomputersimulationshowsthattheresultisindeedattractive.Inaddition,Meng[3]hasalsoinvestigatedthekinematicalanalysisoftheseven-barmechanism,andtheoptimaldesignhasbeencompletedbasedontheminimumpoweroftheservomotormotor,andMenghasproposedthatthehybridmechanismisaresearchdirectionofthemechanicalpress.Tokuz[4]firstputforwardofthehybridmechanismandanalyzedthevelocitysynthesisbyusingthedifferentialgeartrain.Hisexperimentconfirmedthefeasibilityofhisconception.Theconceptsoftheadjustable-speedamplitudeanddifferential-speedratioarenotmentionedintheirworks,andtherelationshipbetweenthevelocityvariationandthepowerofthetwomotorswerenotclearlygiven[5―8].Buttheseconceptsareveryimportantandabsolutelynecessaryforthehybridmechanismtoselectthetwomotors’poweranddeterminetheworkingloaddistributionbetweenconventionalmotorandtheservomotor.Inrefs.[1―3]theyusedlinkagemechanismtoimplementthehybridinputofmechanicalpress.Themethodisverycomplexbecausethechangeofthelengthandpositionoftheeachbarinlinkagemechanismwillhaveaneffectonthemotionoftheslideofthemechanicalpress.Sosomeprincipalproblemsareusuallyignoredinresearchhybridmechanismcourse,andtheresearchresultsdonnotalwayscoincidewiththepracticeengineeringconditions[9―11].Thegeardifferentialtrainhastwofreedoms,andtheratiosoftransmissionbetweenarbitrarytwoaxesareaconstant.Inordertosimplifythemechanicalmodelandmaketheproblemsmuchprojected,thedifferentialgeartrainisusedastransmissionmechanismtostudythehybridproblemsofthemechanicalpressinthispaper.Thispaperaddressestherelationshipbetweentheadjustable-speedamplitudeandthepowerofthetwomotors,theworkingloaddistributionbetweenthetwomotors,andputsforwardtwodriveschemesoftheconventionalmotorandtheservomotorsimultaneouslyworking,andtwomotorsseparatelyworking.Withthe200-tonmechanicalpressastheengineeringbackground,adrivesystemofthehybridmechanismofthemechanicalpressisdesigned,andthefeasibilityofthetwodriveschemesinmechanicalpressisanalyzed.2TheprincipleofthehybridmechanismTheworkingprincipleofthehybridmechanismofthemechanicalpresswithdifferentialgeartrainisillustratedinFigure1.Thesystemconsistsofconventionalmotor(alsocalledACmachinewithconstantspeed),servomotor,reducingunitI,reducingunitII,differentialgeartrain,andcrankslidemechanism.Theoutputaxisofthedifferentialgeartrainisconnectedwiththecrankshaftofthecrankslidemechanism.Oneofthetwoinputaxeslinkstheconventionalmotorthroughthereducingunit?;theotherinputaxislinkstheservomotorthroughthereducingunitII.Thereforethemotionofthecrankshaftiscompletelycontrolledbythemotionsoftheconventionalmotorandtheservomotor.Thereducingunit?andthereducingunitIIarerespectivelyinstalledbetweenthetwomotorsandthedifferentialgearunitinthewayofserialinordertobearapartofreducingvelocitytaskofthealltransmissionsystem,becausetoobigdriveratioofthedifferentialgeartrainwillmakeitsdrivingefficiencydecreased.Theangularvelocityoftheconventionalmotorisconstant,soitspriceischeaper.Theangularvelocityoftheservomotorisadjustable,soitspriceisexpensive.Inthesystemofthehybridmechanismtheconstantspeedoftheoutputaxisisprovidedbyhighpowerconventionalmotor;andtheservomotorprovidesitsadjustablespeed.Therefore,inthisway,itnotonlymakestheoutputmotionofthecrankshaftofthemechanicalpressflexible,butalsoavoidsusinghighpowerservomotor.Henceitcouldsaveboththemachinemanufacturingcostsandthemachineoperatingcosts.Figure1Workingprincipleofhybridmechanismofdifferentialgeartrain.3ThevelocitycharacteristicsofthemechanicalpressslideTheworkofthemechanicalpresspresentstheregularityoftheperiodicchange[12].ThedisplacementandvelocitychangesofthemechanicalpressslideinanidealworkcirculationareillustratedintheFigure2.Theslidestartstomovefromtopdeadcentertotheworkingstartpointathighvelocity(calledquickfeedingstage).Whentheslideofmechanicalpressapproachestheworkingpoint,itshighvelocityisshiftedtoslowvelocityandthenitbeginstostampworkpieceatlowvelocity(calledlowworkingstage).Thelowvelocityoftheslideistoavoidgreatimpactonthedie,andbenefittheplasticshapingoftheworkpiece.Aftertheslidefinishesthestampingworkandreachesthebottomdeadcenter,theslidecomesbackathighvelocityandstopsatthetopdeadcenter(calledquickbackstage).Hence,themotionvelocityofthemechanicalpressslidecanbedividedthreekinds:highdownvelocityV1,slowworkingvelocityV2,andhighbackvelocityV3.ThevelocityV1andvelocityV3shouldbeaspossibleashighandthevelocityV2shouldbeslowandflexibleinordertoensurehighworkingtimesofthemechanicalpressperminuteandsatisfytherequirementsofdifferenttechnologies.Actuallythemechanicalpressonlyworksinaveryshortcoursebeforethebottomdeadcenter,andintheothercoursesitdoesnotdoworktotheworkpiece.4Thenomenclaturesandequationsofthehybridmechanism4.1TherelationshipoftheangularvelocityinallaxesTherearethreeexternalaxesinthedifferentialgeartrainasillustratedinFigure1.Inordertoconvenientlyexpresstherelationshipofthethreeaxes,theaxisconnectedwiththeconventionalmotoriscalledaxis1,theaxisconnectedwithservomotoriscalledaxis2,andtheaxisconnectedwithcrankshaftiscalledaxis0.Theangularvelocitiesofthethreeaxesarerespectivelyexpressedasn1,n2andn0.ThetorquesofthethreeaxesarerespectivelyexpressedasM1,M2andM0.Becausetherearetwofreedomsinthedifferentialgeartrain,onlythethirdaxisisfixed,suchthatthedriveratiooftheothertwoaxescanbedetermined.Sotherelationshipsofdriveratioandangularvelocityofthethreeaxesneedtobeexpressedasthecharacterwithsuperscriptandsubscript.Figure2Idealdisplacementcureoftheslide.4.1.1Theconventionalmotor’sinfluenceontheoutputmotion.Whentheservomotorstops,n2=0,onlytheangularvelocityoftheconventionalmotoraffectstheoutputangularvelocityn0.4.1.2Theservomotor’sinfluenceontheoutputmotion.Whentheconventionalmotorstops,n1=0,onlytheangularvelocityoftheservomotoraffectstheoutputangularvelocityn0,where1n0representsaxis0angularvelocity,and1i20representstotaldriveratiofromaxis2toaxis0includingdifferentialgeartrainandreducingunitIIwhenaxis1(servomotoraxis)isfixed.4.1.3Theconventionalmotor’sandservomotor’sinfluenceontheoutputmotion.Whentheconventionalmotorandtheservomotorrunatthesametimethroughthecompositionofthedifferentialgeartrain,theoutputvelocitycanbeexpressedas.Becausetheservomotorcanrunatarbitraryangularvelocitybetweenthezeroandspecificvelocityinbothpositiveandnegativedirections,n2canbeexpressedas.whereKistheratiooftheactualangularvelocitytothespecificangularvelocityoftheservomotor;thevalueisarbitrarybetween?1and+1,includingzero.n2eisthespecificangularvelocityoftheservomotor.4.2Adjustable-speedamplitudeanddifferential-speedratio4.2.1Adjustable-speedamplitude.Inordertocorrectlydenotethevariablevelocityofthedifferentialgeartrainofthehybridmechanism,theconceptofadjustable-speedamplitudeisintroduced.AsshowninFigure1,adjustable-speedamplitudeistheratio(orpercentage)ofabsolutevalueofupanddownadjustableamounttothebasespeed.Inthedifferentialgeartrainofthehybridmechanism,theadjustable-speedamplitudeequalstheratiovalueofaxis0outputspeedofoperatingasingleservomotoratthespecificspeedtoaxis0outputspeedofoperatingasingleconventionalmotor[13].Inthedifferentialgeartrainofthehybridmechanism,theadjustable-speedamplitudeisthemostbasicandthemostimportanttechnologyparameter.Itnotonlydeterminesthematchingrelationshipofthespeedofthetwoinputaxes,butalsodecidesthematchingrelationshipoftheinstalledcapacityoftheservomotorandtheconventionalmotor4.2.2Differential-speedratio.Thedifferential-speedratioisusuallyusedtoexpressadjustablespeedtechnologyperformanceinthedifferentialgeartrain.Itisanimportanttechnologyparameterofthedifferentialeffectinthedifferentialsystem.Thedifferential-speedratioequalsthereciprocalvalueoftheadjustable-speedamplitude.ItcanbeexpressedasAccordingtothefactthattheangularvelocityisininverseproportiontoitstorqueandthatthesameloadisdrivenbyconventionalmotorandservomotor,anequationexpressedwiththepowersofthetwomotorscanbededuced,whereP1isthepoweroftheconventionalmotor,P1=M1n1.P2isthepoweroftheservomotor,P2=M2n2e.4.3TheworkingloadpowerdistributionSupposingthattheworkingloadpowerofthemechanicalpressisP0,thepowerrelationshipbetweentheconventionalmotor,theservomotorandworkingloadcanbeexpressedasbelow:Figure3Physicalsenseoftheadjustable-speedamplitude.Fromeqs.(9)―(11),theoutputpowersoftheconventionalmotorandtheservomotoraredeterminedbythevalueoffactorK,whichisactuallyequaltothechangeratioofangularvelocityoftheservomotor.Hencewhentheoutputangularvelocityrunsindifferentworkingregion,theratioofbearingloadofthetwomotorsisdifferent,too.4.3.1Theoutputaxisrunningatthebasicspeed.Whentheoutputangularvelocityoftheservomotorequalszero,thatis,K=0,P2=0,fromeq.(9),wehave.Heretheconventionalmotorbearsalltheloadingpower.4.3.2Theoutputaxisrunningintheincreasingspeedregion.Theservomotorrunsinthepositivedirection,0≤K≤1,andbothP1andP2arepositivevalues,soboththeconventionalmotorandtheservomotorbearapartoftheworkingload.Thustheconventionalmotorbears90.9%―100%workingloadandtheservomotorbearsonly0―9.1%workingload.Thevalueoftheadjustable-speedandthedifferential-speedratiodeter-minetheloaddistributionbetweenthetwomotors.4.3.3Theoutputaxisrunninginthedecreasingspeedregion.Inthedecreasingspeedregion,theservomotorrunsinnegativedirection,andtherangevalueofKis?1≤K≤0.Byeqs.(9)and(10),theP1ispositive,andtheP2isnegative.Thenegativevalueoftheservomotorpowershowsthattheservomotorpowerisalreadytheworkingresistance.Hencetheconventionalmotorisnotonlydoingworktotheworkingload,butalsodoingworktotheservomotorpower,Whentheangularspeedisintheregion0―n2e,theloadoftheconventionalmotorisThuswhentheoutputangularspeedisinthedecreasingregion,theconventionalmotorconsumesmoreenergythanintheotherregions.Thedecreaseoftheoutputspeedisatthepriceofconsumingtheservomotorinputpower.Inordertosaveenergy,theoutputangularspeedshouldavoidorreducerunninginthedecreasingregion.4.4ThetwodriveschemesofthehybridmechanismofthemechanicalpressAccordingtoeq.(3),theoutputangularvelocityofthehybridmechanismisequaltothereducedvalueoftheirsumoftheangularvelocitiesofboththeconventionalmotorandtheservomotor.AsshowninFigure1,theoutputangularvelocityofthedifferentialgeartrainisconnectedwiththecrankaxisofthemechanicalpress,sothetwoaxeshavethesameangularvelocity.Wheneitheroftheconventionalmotorortheservomotorisdriven,orwhenbothofthemaredriven,thedifferentangularvelocityofthecrankshaftofthemechanicalpresscanbeobtained.Therefore,twokindsoftheschemesofthehybridmechanismofthemechanicalpressareproposed:(i)theconventionalmotorandtheservomotoraresimultaneouslydriven;and(ii)theconventionalmotorandtheservomotorareseparatelydriven.4.4.1Theconventionalmotorandtheservomotorbeingsimultaneouslydriven.Thisschemeshowsthattheangularvelocityofthecrankshaftofthemechanicalpressiscomposedoftheangularvelocityoftheconventionalmotorasthebasicspeedandtheangularvelocityoftheservomotorastheadjustablespeed(Figure3).Theangularvelocityandthepowerscanbecalculatedbyusingeqs.(1)―(18).4.4.2Theconventionalmotorandtheservomotorbeingseparatelydriven.Thisschemeshowsthatonlyonemotorisdriveninthehybridinputcourseandatthesametimeanothermotorisbraked,i.e.whenthecrankshaftisindifferentialrunningstage,theconventionalmotorandtheservomotorareseparatelyoperated;thusthedifferentangularvelocityofthecrankshaftcanbeobtained.Theflexiblelowspeedoperation.Whentheconventionalmotorisbrakedandtheservomotorisoperated,n1=0，thebelowequationcanbeobtainedfromeq.(5)Because?1≤K≤+1,theoutputangularvelocityofthecrankshaftisadjustableandthecrankshafthastworotatingdirections;thereforeitisflexible.Abigvalueofthedriveratio1i20canbedesigned,soaverysmalloutputangularvelocity1n0canbeachieved.Henceinthiscoursetheoutputangularvelocityisflexibleandlow.Whentheservomotorisbrakedandtheconventionalmotorisoperated,n2=0,fromeq.(5),wehave.Crankshafthastworotatingdirections;thereforeitisflexible.Figure4Physicalsenseofthecomparisonofthetwooutputangularspeed.Becausedriveratios2i10and1i20areindependentofeachother,andtheoperationandtheservomotoroperationoftheconventionalmotorsareindependentofeachothertoo,thevaluesofthetwodriveratioscanbeassignedaverydifferentvalue(oneisverysmall,andtheotherisverybig),sothetwooutputangularvelocitiesmaydiffergreatly.Sodoingcansatisfythemotionrequirementsofthemechanicalpressslideindifferentstages.ThephysicalsenseofcomparisonofthetwooutputangularspeedisillustratedasinFigure4.5ConclusionAccordingtothevelocitycharacteristicsofthemechanicalpress,thedifferentialgeartrainisappliedinthehybridmechanismofthemechanicalpress.Throughtheaboveanalysisandcalculation,thefollowingconclusionscanbereached:(1)Theadjustable-speedamplitudeanddifferential-speedratioareimportantparametersofthehybridmechanism.Theyarenotonlytheratiooftheadjustablespeedtothebasicspeed,butalsotheratioofthepoweroftheservomotortothepoweroftheconventionalmotor.(2)Withtheschemeoftheconventionalmotorandtheservomotorbeingsimultaneouslydriven,thepowerofthetwomotorshastobeassignedhighvalueinordertosatisfythevelocityrequirementsofthemechanicalpress.Sodoingincreasesthemanufacturingcostandtheoperationcostofthemechanicalpress,andthereforeisvaluelessinpracticalapplication.(3)Withtheschemeoftheconventionalmotorandtheservomotorbeingseparatelydriven,thepoweroftheservomotorcanbeassignedlowvalueinordertosatisfythevelocityrequirementsofthemechanicalpress.Sodoingdecreasesthemanufacturingcostandtheoperationcostofthemechanicalpress.Therefore,thisschemeproposesafeasiblewayinpracticalindustrialengineering.研究利用差動齒輪系實現(xiàn)機械混合壓力本文對機械壓力混合輸入的問題進行了研究，用差動輪系作為傳動機構。它建議將“調速幅度”或“差動速比”作為重要參數(shù)混合投入機械研究中。它不僅規(guī)定了可調節(jié)幅度速度，而且還決定了伺服電動機功率比的傳統(tǒng)電機。所有傳動軸計算的傳輸功率，兩個電機的功率和工作負載的分布得到了推斷結果。它提出了伺服電機和傳統(tǒng)電機同時驅動，伺服電機和傳統(tǒng)電機單獨驅動兩種驅動方案。計算結果表明后者的方案能比伺服電機使用更低的功率，因此這種方案能使得制造和使用成本低得多。后一個方案提出了一個可行的途徑在實際工程中來使用混合機械壓力。機械壓力，混合機制，差動輪系，調速1、引言目前有許多關于機械壓力的混合機制的研究報道，并且已經成為一個熱門的研究話題。混合動力機制是一種有2個自由度的機制（也稱為差速機制），當兩個獨立的運動同時輸入時，輸出的運動能夠滿足一些運動要求，這些要求通過機械的運動組成來獲得的?；旌蟿恿C制也可稱為可控機制，或者稱作混合機器。研究機械壓力機的混合機械的目的是使用大功率常規(guī)電機利用飛輪來完成工件的沖壓；并使用低功率的伺服電機來調整滑塊速度。應用在機械壓力中的混合機制的優(yōu)勢在于它不僅可以比伺服壓力機降低更多的制造成本，而且還有一個靈活的工作速度滑塊。所以混合動力機械壓力機在機制上的工作引起了許多研究者的興趣；并且這些研究主要集中在多桿混合機械中。杜和郭已經全面討論了七桿的機械壓力機的混合機制，包括組成連桿機構的可行條件，滑塊機構的動力分析，和兩臺電機之間轉矩和功率的分配以及它們之間的優(yōu)化設計?；诙囗検降能壽E規(guī)劃也需要調查，且計算機模擬表明結果的確吸引人。此外，孟也調查了七桿機構的運動學分析，基于最低功率的伺服電機的優(yōu)化設計已經完成，然后孟建議混合機制是機械壓力機的研究方向。Tokuz首次提出了混合機構并且使用差動齒輪系分析了合成速度。他的實驗證實了他的理論的可行性。調速幅度和差速比的概念在他們的作品中沒有提到，并且兩電機的速度變化和功率之間的關系也沒有清楚的給出。但是這些概念對混合動力機械選擇兩個電機的功率、決定傳統(tǒng)電機和伺服電機之間的工作負載分配非常重要而且是絕對必要的。在參考文獻[1-3]中他們使用連桿機構來實施機械壓力機的混合輸入。這種方法相當復雜，因為連桿機構每根連桿的長度和位置的改變會對機械壓力機的滑塊運動產生影響。所以一些主要的問題在混合機械的課程研究中常常被忽略，而且研究結果不總是和實際工程條件相符合。差動齒輪系有兩個自由度，并且任意兩軸之間的傳動比是一個常數(shù)。為了簡化機械模型并使得問題更加透明，在這篇文章中差速齒輪系常作為傳動機構來研究機械壓力機的混合問題。這篇文章討論了兩電機調速幅度和功率之間的關系，兩電機之間的工作負載分配，并且提出了傳統(tǒng)電機和伺服電機同時工作、分開工作的兩種驅動方案。隨著200噸的機械壓力機作為工程背景，機械壓力機的混合動力驅動系統(tǒng)已設計出來，并且在機械壓力機中的兩種驅動方案的可行性也已得到了分析。2、混合型機械的主要原則帶有差動齒輪系的混合機械壓力機的工作準則在圖1中得到了說明。系統(tǒng)由傳統(tǒng)電機（也叫作恒定速度的AC機器），伺服電機，減速器1，減速器2，差動輪系和曲柄滑塊機構組成。差動輪系的輸出軸由曲柄滑塊機構的曲柄軸連接而成。兩根輸入軸中的一根軸通過減速器1和傳統(tǒng)電機相連；另外一根輸入軸通過減速器2和伺服電機相連。因此曲柄軸的運動完全由傳統(tǒng)電機和伺服電機的運動來控制。減速器1和減速器2以串行方式安裝在兩個電機和差速齒輪系單元之間目的是為了承擔所有傳動系統(tǒng)的一部分減速任務，因為太大的差動齒輪系傳動比會使得傳動效率下降。傳統(tǒng)電機的角速度是一個常數(shù)，所以它的價格更便宜。伺服電機的角速度是可調的，所以它的價格昂貴?；旌蟿恿C構系統(tǒng)中的輸出軸的恒定轉速由大功率的傳統(tǒng)電機提供；而伺服電機提供可調的速度。因此，用這種方式，不僅使得機械壓力機的曲柄軸的輸出運動靈活可變，而且還避免使用大功率的伺服電機。因此它既可以節(jié)約機器制造代價又可以節(jié)約機器運轉成本。圖1差速齒輪系的混合機構工作準則3、機械壓力機滑塊的速度特征機械壓力機的運轉體現(xiàn)了周期性的變化規(guī)律。機械壓力機的滑塊在理想的工作條件下的位置和速度變化如圖2所示?；瑝K以很大的速度（稱作快速進給階段）從頂部死角中心移到工作起點。當機械壓力機的滑塊接近工作起點時，它的速度會從高速變成低速，然后以低速（稱作低速進給階段）沖壓工件。低速的滑塊是為了避免對模具產生重大的影響，有益于塑料工件的成型。在滑塊完成沖壓工件并達到工件死角中心的底部時，滑塊會以高速返回并最終停在死角中心的頂部（稱作快速返回階段）。因此，機械壓力機的滑塊的移動速度可以分為三種情況：快速下降速度V1，緩慢工作速度V2，和快速返回速度V3。速度V1和V3應該盡可能一樣快，速度V2應該緩慢、靈活，目的是為了確保機械壓力機每分鐘的工作次數(shù)并能滿足不同技術的要求。事實上機械壓力機在到達死角中心的底部之前僅以一個很短的行程工作，而在其他行程中對工件來說是不工作的。4、混合機械的術語和方程4.1所有軸的角速度的關系如圖1所示在差動齒輪輪系中有三個外部軸。為了方便的表達三個軸之間的關系，和常規(guī)電機連接的軸叫軸1，和伺服電機連接的軸叫軸2，和曲軸連接的軸叫軸0。三根軸的