| The precision reducer is the core component of industrial robots which the testing and evaluation of its performances are the key issues that need to be solved in the mass production and industrial application.With the clear guidances of “Outline of the National Program for Long-and Medium-Term Scientific and Technological Development” and the gradual deepening localization of the precision reducer,the test level of the precision reducer transmission performance has been significantly improved,but there is still a big gap compared with the international advanced level.These gaps seriously restrict the development of China's robotic precision reducer industry,such as basic theory of testing,testing and evaluation of key technologies and high-precision and high-reliability test systems.In this thesis,based on the demand for the improvement of the transmission performance test level of the transmission precision of the robot precision reducer,these problems will be systematically researched such as the basic theory of the transmission performance test and the error analysis and compensation method of the test system.Based on the above research,the transmission performance test systems of high-precision are also will be researched.These researches have a very important theoretical significance and broad engineering application prospects for improving the accuracy and reliability of the transmission performance test and realizing the breakthrough development of the precision reducer transmission performance test technology.The prime content of the dissertation may summarize as follows:(1)The effects of system structural errors and test principle errors on the measurement of basic physical quantities such as angle and torque in the bench-type measurement system are analyzed.The parameterized characterization model of the transmission performance index test of the precision reducer is proposed,and the classification method of the test system is given.The principle model and index evaluation expression of the transmission error,torsional characteristics and transmission efficiency test system including measurement errors are established.Based on the influences of system structure errors and principle errors on the test accuracy in the traditional test bench,the structure design idea of the integrated test system is proposed,and the principles of the integrated structure design are given.(2)The function relationships between parts manufacturing error,assembly error and deformation error in the test system are analyzed.The mathematical model of angle measurement of the actual measuring point with geometric errors is established,and the error modeling process of the test system considering structural factors is proposed.Then,the system error modeling is carried out taking the typical precision reducer performance test system as an example.According to the multi-body system modeling foundation and the function relationship of the system geometric errors,the feature matrix,error matrix between each adjacent body and the mathematical model of the actual measurement point system geometry are established.Finally,combining the established mathematical model of angle measurement and the performance index expression containing error term,the prediction and compensation methods of the test error are proposed.(3)The structural design method of the integrated torsional characteristic test system is expounded,and the torsion test system is developed including mechanical system,control and test software.A self-locking loading system with high torque is designed to improve the stability and continuity of torque loading.A real-time processing method of test data based on mixed interpolation method is proposed.Based on the proposed system error prediction model and combained with the data of the test system parts,the error analysis of the torsional characteristic test system is carried out,and the rationality of the angle measurement error model is verified by using the autocollimator.The calibration tests are performed on the test system using a standard shaft and three sample reducers.(4)The structure and system design of the transmission error test system are developed with the two conditions of no-load and load based on the integrated structural design method.The test system control and test software based on Modbus communication protocol is developed.Based on the integrated transmission error test system developed,the test system performance verification test for testing repeatability and anti-vibration shock interference are completed.The transmission error characteristics of RV reducer and harmonic drive are measured.(5)A complete set of test system for transmission performance of RV reducer and harmonic reducer are developed.Based on the developed test system,the RV reducer transmission performance test comparison based on the part inspection information,the transmission performance comparison under the fatigue life test and assembly process changes are completed.The industrial application of RV reducer manufacturers and harmonic reducer manufacturers has been accomplished,which provides a good case for the development of localized RV reducers. |
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