Research On The Strength,Stiffness And Dynamic Performance Of Servo Drive Reducer

In 2013,China has become the world's largest robot market,but the domestic robot market share is only about 5%.As the core parts of the robot,the reducer can't be self-sufficient and relies heavily on imports because of the level of processing,currently.Therefore,providing large-scale and reliable servo drive-reducer components is the most important for the Chinese robot industry development.With the references of the XQ180 reducer for the robot joint produced by iGB Corporation of Korea,this paper explore to use new structure of planetary gear transmission with few tooth difference which is independent intellectual property rights instead of the transmission system of the reducer.The strength and stiffness of the new few tooth difference reducer are researched and the dynamic performance of the servo-drive electromechanical coupling system is studied based on bond graph theory.It can provide reference for the development and optimization of domestic robot joint servo driver,providing theoretical basis for replace imported products with servo reducer in the future;On the other hand,it can actively promote the research of domestic bonding graph theory and electromechanical coupling application.The whole machine model according to the requirements of the reducer size and transmission ratio is designed,and the strength of the vice teeth of the Two-stage transmission gear is verified with the calculation method of national standard.The model of virtual assembly and kinematics simulation are done according to the relationship of meshing and transmission,movement situation of the transmission parts are observed and the transmission ratio is verified.Making use of gear meshing principle and ABAQUS software,the static finite element analysis of the virtual assembly model of the reducer are done.The stress distribution of each main part is analysed and the overall structural strength and design rationality is further verified.The distribution and the periodic law of the equivalent stress,the contact stress and the bending stress of the two-stage gear pair are studied by choosing multiple feature positions of the mesh cycle and refining the finite element meshes among tooth contact area,and the stress distribution of each tooth in the multi-tooth meshing condition is studied deeply according to the gear transmission characteristics of few tooth differential internal gear drive.Mechatronics model of reducer servo drive system is established according to the bond graph theory and the performance of the servo system dynamic is researched by 20-sim software based on bond graph.And the influence on the dynamic performance of the reducer system due to changing system parameters is analysed.The application characteristics of the bond graph method in electromechanical coupling dynamic simulation is summarized.The results of this study show that,the new structure of the planetary gear reducer with few tooth difference that was designed can meet the design requirements.The multi-tooth meshing of the internal gear pair with secondary few tooth difference makes the bearing capacity is more larger than the theoretical value.The multi energy domain dynamics simulation of the electromechanical coupling system of servo drive is realized by using bond graph method.The research of this paper provides a reference for the development of domestic servo drive reducer.