Modal Test And Analysis Of RV Reducer Used In Robot

Based on the RV transmission, because of the wide range of transmission ratio, little backlash and the small volume, RV reducer used in robot is of great concern of researchers. As for the dynamic characteristics of the high precision reducer, the theoretical and experimental analyses are still obviously insufficient. By extracting modal parameter, modal analysis can provide the basis for the structure vibration characteristics analysis and vibration failure diagnosis, which is an important dynamic characteristics method. Based on the RV250reducer, from the point of the theory and experiment, single pieces and the whole body in RV250reducer are studied with the method of finite element modal analysis and experimental modal analysis. The detailed content is as following:(1) With the use of Pro/E, the assembly model of the whole body and single pieces models are established. Bade on the precision position problem of the assembly model, a method of virtual assembly of planetary mechanism is adopted, which accomplish no inference assembly.(2) With the use of ANSYS Workbench, the finite element modal analysis of the cyloidal gear, the right planetary carrier, eccentric shaft and the whole body are conducted. The natural frequency and modal shape of single pieces and the whole body are obtained with the unconstrained condition.(3) With the use of HyperMesh, the refining elements models of cyloidal gear, the right planetary carrier are conducted, which are imported into ANSYS Workbench. The finite element modal analyses of high precision elements models are accomplished. Contrast with the method only with the ANSYS Workbench, the elements precision effects on modal results are studied.(4) With the use of DASP, the experimental modal analysis of cyloidal gear, the right planetary carrier and the whole body are achieved. By the fit methods of single and multi-degree freedom’s complex mode, natural frequency and modal shape are fulfilled.(5) The natural frequencies of finite element modal analysis and experimental modal analysis in the whole body and single pieces are contracted. From the perspectives of finite element method and experimental method, the deviation is analyzed and the two methods are contrasted.