Research On Robot Joint RV Reducer

As the modern industry,continuously developing,China proposed to develop advanced industrial robots.When researching industrial robots,the RV reducer is the most important factor that affects the accuracy of its end-effects.Therefore,the RV reducer is the focus of industrial robot research.For the narrow space of industrial robot joints,the transmission efficiency of RV reducer remains to be improved.Optimizing the key parameters of the RV reducer can increase the transmission efficiency and make the structure smaller.This topic is about the optimal design of the RV reducer,and the genetic algorithm is used to optimize the structure of the RV reducer.Utilize UG to optimize the parameterized structural modeling and verify the correctness of the optimization results through CAE software motion simulation and vibration analysis.The specific contents are as follows:(1)Gathering and collating the technical parameters of the existing domestic RV reducer,the tooth profile formation law of the cycloidal gear and the basic law of meshing in the transmission process,and calculating the degree of freedom and transmission ratio of the mechanism.Analyze the force of the transmission.For the reason that the accuracy of current domestic RV reducer is kept short,each factor of the error caused by the transmission process is analyzed one by one.It laid the foundation for follow-up research.(2)The optimization theory is applied to the problem that the structure of the RV reducer is not compact enough and the transmission efficiency is low.Volume and efficiency are regarded as two objective functions,and corresponding weights are assigned according to the importance of each objective function,and linear and nonlinear constraints are established.In the end,the optimal solution was obtained by using the genetic algorithm to optimize the calculation,the volume was reduced by 27.9%,and the transmission efficiency was also increased by 3%.Then the optimized components were checked for strength to verify whether they meet the strength requirements.(3)The theoretical cycloidal gear tooth profile is processed directly.The errors that caused by the machining and assembly,there are problems such as gear stucking,so the trochoidal gear tooth profile of the RV reducer is modified.The parameterized expression expresses the modified real edge curve.Through UG parametric modeling,a virtual prototype is obtained.(4)The cycloidal wheel in the virtual prototype is compared with the modal analysis of the finite element software to compare the external excitation frequency given by the crankshaft and needle teeth with the natural frequency of the whole transmission compared with the first ten natural frequencies of the cycloidal wheel itself.Possible resonances suggest changes to the corresponding structure.(5)The parametric modeled virtual prototype uses the motion simulation module of UG to perform prototype virtual experiments.Aquireing the transmission of the angular velocity and angular acceleration curve.And in line with the transmission ratio.Prove that the results of the optimal design is correct and can be used.