Dynamic Modeling And Analysis Of RV Reducer For Industrial Robot

The RV reducer,as an important device of industrial robot joint arm,is a new type of reducer,which is based on the double-layer connected transmission structure of planetary transmission and needle pendulum transmission.Compared with other planetary transmission,it has the advantages of large transmission ratio,compact structure,strong bearing capacity,small return error and smooth transmission.As a high precision reducer,RV reducer is widely used in industrial robot joint arm,and carries a key role.And the transmission structure is complex,rich internal incentives,and strict requirements on the practical engineering,overloading,lightweight and smooth operation,such as performance,since the recent decades,scholars of the planetary gear system dynamics problems of deep and valuable research.Its research on static characteristics has reached a certain depth in theory.Therefore,it is necessary to study the dynamic characteristics of RV reducer based on engineering and theoretical research.The specific research contents of this paper are as follows:First of all,from the transmission system dynamics modeling,dynamic response and dynamic characteristics analysis and so on were reviewed the research progress of planetary gear train and needle swing gear train and the status quo,and from the inherent characteristics,parameters,stability,dynamic stability and dynamic response of the RV reducer are reviewed dynamic direction.Secondly,using Pro/E to complete the 3d solid modeling and assembly of RV reducer,the virtual assembly method is adopted and its interference is checked to prepare for future finite element analysis.Moreover,using the finite element analysis software ANSYS Workbench on the analysis of the structure of the whole machine modal and important parts of constraint modal,the 14 before order natural frequency is obtained,provides the theory support for the future design.Finally,the dynamic equation is established by the method of concentrated parameter.By solving the dynamic equation,the natural frequency of the transmission system is obtained,and the first eight modes are drawn by induction.Considering the influence of time-varying meshing stiffness of involute gear is obtained the dynamic response of the components,in order to further verify the accuracy of the dynamic model,using the theory of vibration signal acquisition,transmission system for the dynamic test,obtained the vibration signals of the body.By comparing with theoretical,and the dynamic characteristics of RV reducer are summarized,which provides a theoretical basis for future research.