Dynamic Performance And Experimental Research Of The Robot Cycloidal Pin Gear Reducer

"Made in China 2025" has enable intelligent manufacturing and industrial robots to achiev an unprecedented rapid development.As a core components of industrial robots,precision reducers accounting for more than 30% of their total cost.The RV reducer of heavy-duty transmission of industrial robots still relies on imports owning to its transmission accuracy,torsional rigidity and other problem,which has become one of the bottlenecks hindering the industrialization of industrial robots in China.Therefore,it is of great significance to study the RV reducer of heavy-duty transmission in industrial robots.In this paper,the RV reducer is deeply studied from the aspects of kinematics analysis,dynamics simulation,multi-degree-of-freedom nonlinear dynamics model and modal experiments.The main research contents are as follows:The manufacturing forming principle of the cycloid and cycloidal profile was analyzed in a visual form according to the working principle of the RV reducer.The meshing equation of the cycloidal pin wheel was derived from the mechanism of the cycloidal pin gear meshing transmission.With Matlab,Creo,ADAMS and other softwares,the parametric profile design software of cycloidal profile was copiled,the digital 3D model of RV reducer was established,and the complete virtual prototype was obtained;The ANSYS was used to simulate analysis the kinematics and dynamics of the RV reducer.According to the structure of RV reducer,the dynamic performance of the first and second deceleration parts of RV reducer was investigated by the combination of concentrated mass and dynamic substructure,and the nonlinearity dynamic model of the multi-degree of freedom with transverse-twist-swing was established.The dynamically design of the RV reducer was conducted with the energy and Lagrangian method.Considering the flank clearance and machining error and other nonlinear factors,the nonlinear dynamic model of RV reducer was established and the solution idea was proposed.The factors affecting the time-varying stiffness of the reducer were studied one by one: these factors include the involute gear modification,the profile modification of the cycloidal wheel,the coincidence of the involute gear transmissio n,and the coincidence of the cycloidal pinion.The influences of two factors include tooth profile modification and coincidence degree,were studied mainly.The influence law of various factors on the meshing stiffness of the reducer was obtained.The stress analysis of involute planetary gear transmission,cycloidal pinion transmission and output mechanism of the RV reducer were analyzed respectively.The relevant factors affecting the dynamic performance of the RV reducer were analyzed.The amplitude and frequency characteristics curve of the reducer drive were obtained.Base on the modal theory,the finite element theoretical modal method and the multi-channel special modal test system were used to study the modal performance of the key parts and the whole machine of the RV20 E reducer,and the test results are compared and analyzed.Reasonable results;and a RV reducer dynamic transmission accuracy test bench was developed,the RV20 E reducer output accuracy was tested experimentally.