Research On Mechanical Modeling And Transmission Accuracy Of Robot Joint RV Reducer

RV drive is a new type of transmission developed on the basis of cycloid transmission.It has been widely used in various industries,especially in the industrial robot industry,due to its many advantages over other planetary transmissions.The development of electromechanical technology puts forward higher requirements on the stability and transmission accuracy of RV reducers.Therefore,it is necessary to perform force analysis,structural stress and transmission error analysis on RV reducers,and strive to design and manufacture RV accelerators.Give reasonable guidance.The main contents are as follows:Based on the analysis of the structure and transmission principle of RV reducer,the gear ratio of reducer was calculated by using the transformation mechanism method.The cycloidal gear equation and the radius of curvature of the cycloidal gear tooth profile are introduced.Analyze the difference of the pin-tooth support method between the RV reducer and the cycloid reducer,and use the Hertz contact theory and the calculation method of the first contact range of the cycloid pin coupler to perform the stress on the pin teeth of the RV reducer.The dynamic continuous calculation and the corresponding error due to the contact deformation of the cycloidal pin wheel pair are caused.The three-dimensional model of the RV reducer was established with Pro/E software.After the assembly was completed,the motion simulation was performed to verify the rationality of the assembly relationship and the movement relationship of each part.The modal analysis of the RV reducer was carried out by means of ABAQUS software,and the natural vibration characteristics of the reducer were obtained to find out the factors that have great influence on its dynamic performance.The static strength stress analysis was carried out to obtain the weak part of the RV reducer.Based on the equivalent error method,the static transmission error analysis of the RV reducer is carried out,and the transmission error analysis model with 17 degrees of freedom is obtained.The assembly error and machining error of each part are taken into account,and the transmission of the RV reducer is calculated.The error curve gives the error characteristics of the reducer.The factors affecting the static hysteresis of the RV reducer are analyzed.Based on this,the mathematical model of static hysteresis compensation in matrix form is established,and the mathematical model of error distribution involving nine errors such as the center circle radius error of the pin tooth is derived.The calculation of error distribution is carried out.The simulation model of RV reducer hysteresis based on ADAMS is established.The simulation results prove the correctness of the mathematical model of backlash compensation distribution.