Research On Transmission Accuracy And Dynamics Simulation Of Robot RV Reducer

RV Reducer,as the core part of industrial robot,has the unique advantages of large reduction ratio,high transmission precision,small transmission return difference,high transmission efficiency,compact structure and strong torque capacity.In this paper,the static analytical model of transmission accuracy considering the error characteristics of RV Reducer parts and the rigid-flexible coupling dynamic simulation model considering the elastic deformation of parts are established.The main contents of this paper are as follows:⑴.The structure and motion of RV Reducer are studied from the perspective of kinematics.The structure and characteristics of RV Reducer are analyzed;the reduction ratio of RV Reducer is calculated;the conjugate meshing model of cycloid pin wheel is established to obtain the accurate profile equation of cycloid wheel,the path of meshing line and other tooth parameters;the profile modification method of cycloid gear is analyzed to obtain the profile modification equation and the clearance between teeth;the three-dimensional structure model of RV Reducer is established.⑵.The transmission accuracy analytical model of RV reducer is studied from the static point of view.The construction process of the equivalent mechanical model of the system is described;based on the principle of error decomposition,the deformation coordination equation of each component is established,the physical equation and the force balance equation are listed,and the mechanical equation group of the transmission accuracy of the system is established;the calculation methods of the meshing stiffness of each gear and the bearing stiffness are introduced.⑶.The solution method of RV Reducer transmission accuracy analytical model is studied.In this paper,an algorithm for solving the multi degree of freedom and multi tooth meshing model of cycloid pin gear with errors is proposed;the influence of the geometric errors of pin gear on the transmission accuracy and return difference of cycloid pin gear is analyzed;the algorithm for solving the mechanical model of cycloid pin gear is applied to the analytical model of transmission accuracy of RV Reducer,and the key performances such as transmission accuracy of RV Reducer system,force condition of each component are obtained.⑷.The influence of various error factors of RV Reducer on transmission accuracy is studied.Firstly,the transmission performance is analyzed based on the non-error model;secondly,the errors of the first stage involute gear,the crank shaft,the cycloid wheel,the needle gear and the planet carrier are analyzed and discussed respectively;finally,the influence of the meshing clearance between the teeth produced by various modification methods on the transmission accuracy is studied.⑸.The rigid-flexible coupling dynamic characteristics of RV Reducer are studied from the dynamics.Firstly,the dynamic theory of multi-body system with flexible body is introduced;secondly,the modal neutral files of cycloid wheel,crank shaft and needle gear case are established by ABAQUS,and the rigid-flexible coupling multi-body dynamic simulation model of RV Reducer is established by ADAMS;finally,the dynamic response characteristics of RV Reducer are analyzed.