Research On Mechanism Of Measurement System Of Precision Reducer And Angular Error Compensation Method

As the core component of industrial robot,precision reducer plays an important role in the performance of the whole machine.Its specialized performance testing is an indispensable and important part in the key technology research and development,as well as product manufacturing quality control.In accordance with the requirements and characteristics of the precision reducer for industrial robots,it is necessary to rationally design instruments for the comprehensive performance testing that can undertake precision measurement tasks.It should ensure that the measurement methods and means can be employed to reflect the true geometric and physical characteristics of the measured reducer,to achieve the accuracy traceability of measurement values,and to reduce and avoid the error in the measurement results as much as possible.In this thesis,starting from the requirements of comprehensive performance testing of precision reducers,The reasonable construction of the working mechanism of the measurement system and the key factors affecting the performance of the reducer that are angular measurement error and compensation method are deeply studied..The main research contents are as follows:(1)In terms of the construction mechanism of the measurement system,the first vertical and cylindrical instrument for comprehensive performance testing with the feature of enclosed torque is developed at home and abroad.The datum of each subsystem is unified.The motion datum and the measurement datum are automatically transformed.The torsional stiffness becomes high and the measurement chain becomes the shortest.The deformation pattern is simple and conductive to error compensation.(2)The angular measurement error of precision reducer is studied,and the error compensation model based on harmonic wave analysis is established.Through the correlation analysis of the error distribution of the two independent circular gratings on input and output sides of the reducer,an error compensation method of “the error of two-axis angular displacement difference” is proposed,which is based on the angular phase position differences(after removing full circles)and the common rotation angle.Using the mechanical properties of the structural material,the angular displacements of the measured reducer and structural deformation are analyzed in the final measurement results.A feasible error compensation method is proposed.(3)A special angle calibrator is designed and invented,which unifies the measurement datum of two key shaftings on input side and output side of the tested reducer.A theoretical model is established for the unique biaxial angular reading error of the instrument system,and a three-dimensional surface model of the multi-factor correlation is drawn through data processing and signal decoupling algorithm.The above-mentioned biaxial angular reading error can be effectively compensated.