Design And Development Of Test System For Transmission Performance On RV Reducer In Robot

RV(Rotary-Vector)reducer is widely used in the fields of high precision industrial robots and Aeronautics and Astronautics,because of its large transmission ratio,high motion precision,small return difference,high transmission efficiency,small volume,light weight and so on.The study of the retarder started late in Chinese academia.It still stays at the theoretical level,and it is difficult to form a theoretical system with higher application.In order to accelerate the maturity of the related theories,the relevant scholars in the industry strengthen the following aspects:to prolong the processing failure and the precision of the transmission.Further research is needed,and more efforts still need to be made for the overall accuracy.Therefore,according to the above description,it is not difficult to draw the following conclusions:there are many problems in China's current retarder testing and theoretical research,which seriously hinders the next development of the related technical fields.Therefore,the purpose of this paper is to develop a higher precision deceleration system in the shortest time,further refining the accuracy of the RV decelerator by using the knowledge of physics,chemistry and other disciplines,and continue to test the transmission efficiency in this process,so as to realize the precision and high of the RV reducer.The test of efficiency is to control and analyze its machining error and quality.At the same time,the joint simulation analysis of dynamic test system is carried out by co-simulation technology to verify the rationality of the design scheme.(1)first,the development status of RV retarder test system and joint simulation technology at home and abroad is introduced.Then the structure and transmission principle of the RV reducer are briefly described and the parameters(transmission precision,return difference and transmission efficiency)of the test bench are defined.(2)a static test bench and a dynamic test bench are designed according to the characteristics of the measured parameters.The static test bench is a test for the torsional stiffness.The dynamic test bench is divided into the test of the transmission precision under the non loading condition and the transmission efficiency under the load condition,and then the two sets of test lines are determined.According to the theoretical research foundation and the final test result analysis report,the requirements for the next transformation are obtained.Firstly,the system hardware facilities with higher fitness are selected according to the drawings,and a number of research techniques are used to establish a long-term and sustainable platform equipment.The platform is constructed through data acquisition,AC power installation and measurement,sensor data feedback and other links.The second step,according to the current progress flow,use appropriate drawing software and program editing system to inject design thinking into the system program.If in the process of operation,each step is normally done according to the requirements,then the feasibility test is carried out directly after the editing is completed in turn.If the system test appears abnormal,the process terminates,and returns to the previous process to trace the related reasons,and then resume the test project after the recovery is normal.(3)take the RV-80E-121 reducer as an example to establish the mechanical model,and then establish the dynamic simulation model and the control system model(Matlab/Simulink)according to the dynamic test bench,define the related parameters,realize the joint simulation through the data interaction,and provide theoretical verification for the transmission efficiency experiment platform in the dynamic experimental platform.