| Based on the six-wheel mobile robot, research on the robot tumbler joint transmission device has been done. Through comparing various transmission devices, the RV transmission mechanism is studied. In this paper, first the gear shape of cycloid disk is analyzed theoretically, and the tooth profile is modified. This can insure multitooth meshing and stable transmission. In order to keep rational radial clearance and decrease the part fit gap, the combined method of positive equidistance plus positive move distance is proposed to modify the cycloid disk tooth profile, so that the processing tooth profile and the rotate angle reparing shape are almost consisitent, and the transmission precision is enhanced. Secondly, the stiffness of main parts of the transmission device is analyzed, the mathematical model is established, and the simplified analysis method of transmission stiffness is supplied. Then with regard to the transmission efficiency, the efficiency of the robot tumbler joint transmission, device is calculated, and the efficiency formula of transmission device is given. In respect of the precision of tumbler joint, the method of probability and mathematical statistics is adopted. The precision analysis mathematical model of drive and transmission device is presented and the calculating formula is derived on the basis of various synthetical factors which effect the precision. By all those analysis and calculation, the theoretical basis which is needed in the design and research of robot tumbler joint transmission device is provided. |
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