Transmission Error Modeling And Analysis Of RV Reducer

With the accelerated transformation of the industry 4,The process of "RobotSubstitute People" is coming.A quantities of robots are assembled to replace the hand labor.The key of Robot is joints,especially the RV reducer of robot joint.Because of the RV reducer has higher stiffness and rotation accuracy,so usually put it in the heavy loading,Generally the other light load parts,such as small arm,wrist and arm put Harmonic Reducer to achieve reasonable economic benefit.The process of RV reducer is affected by the transmission accuracy in china.China of the RV reducer with high manufacturing costs,low life expectancy,have obvious vibration on the robot,and can not mass production.And domestic production of the RV reducer is generally within 10 kw power,the biggest can reach 75 kw,but Japan can reach 132 kw,the biggest can reach 220 kw,Therefore it has the big gap compared with foreign products,which is important to solve this problem.Based on the RV-40E as the research object,according to the principle of the RV reducer drive,based on virtual prototype technology to establish the virtual prototype model of the RV reducer transmission error,based on the orthogonal experiment method to analysis the RV reducer key parts of the influence of the transmission error,And the curve model of transmission error of RV reducer is deduced,and the software of transmission error calculation is compiled,the main contents are as follows:1.Aiming at different use-patterns of RV retarder,establishing three-dimensional assemble model by means of Pro/E,then leading the model into ADAMS.Basing on Impact function method to conduct touching simulation,we can get relation curve between loading torque and output corner in different use-patterns.Besides,we can also get error curve of loading torque and output corner.We can get the trends of corner curve and corner error by means of quadratic differential fitting of corner curve and corner error curve.We can analyze the working function of RV retarder in different use-patterns according to the trend of curves.The result shows that the needle gear has the minimum strength when Shell is fixed,the output tray output of unloaded with the contrast of Support plate fixation,shell output,the needle of which has the maximum strength.There is minimum corner error Shell is fixed,the output tray output when gradually upload to the nominal torque with the contrast of Support plate fixation,shell output,which has the maximum corner error.Meanwhile,there is the maximum fluctuation range of output corner with the input shaft is fixed,the output tray output.The results for different ways of using the RV reducer provides theoretical guidance.2.Utilize Pro/E to continue the establishment and assemble of parametric rapid 3D model.After finish the set-up of RV-40E reducer rigid body model,then conduct into ADAMS by using macro command method in accordance with transmission principle to proceed virtual sample machine to build the model and constraint,which changes the traditional manual method to constrain the model and reduces the complexity to repeat revising the model data on the constrain of sample machine.which supplies an effective and convenient method to quickly build RV reducer transmission error stimulation sample machines.3.Based on the orthogonal experimental design with the visual and variance analysis method,the error of the center circle radius of the pin gear,moving distance and the isometric modification of the cycloid gear,the error of eccentricity and the radius of pin gear on the transmission accuracy are compared and analyzed,and the calculation formula for calculating the transmission error is given according to the influence factors.The results show that the error of the center circle radius of the pin gear has the greatest influence on the transmission error of the RV reducer,and the influence of the eccentricity error of the RV reducer is the least.It provides theoretical guidance for the rational distribution of key parts of RV accelerator,and It provides a reasonable and reliable method for the detection of RV reducer.4.According to the RV transmission principle to design the transmission error test platform,measurement system with the drive system,testing system and load system combination,combined with the international test standard,simulation of RV reducer working condition,the transmission error of RV reducer for real time measurement of central control system,its structure include magnetic powder brake,encoder and servo motor,workpiece and installation platform,servo motor which is driven by servo control card,two encoder test data is transmitted to the main control data processing machine,get the transmission error curve.The research results provide a practical verification for the theoretical study of the transmission error of RV reducer.5.Based on Qt to development the RV reducer transmission error simulation interface,the basic function of the realization of the key parts of the manufacturing error of RV reducer transmission error calculation.And can display the 27 transmission error curves based on the orthogonal test method.The problem of complicated calculation of transmission error of RV reducer is changed,Can clearly show the RV reducer transmission error curve,so that the results are more intuitive and easy to understand,The research results provide a convenient tool for the fast calculation of the transmission error of RV reducer.