Transmission Error Research Based On Dynamic Model Of RV Reducer For Industrial Robot

RV Reducer has the advantages of small size,large transmission ratio and good dynamic performance,so it is widely used in aerospace,robot and other fields with high precision transmission system.In order to further improve the transmission accuracy requirements of RV Reducer,it is necessary to study and analyze the transmission error of the whole machine,find out the error factors that affect the transmission accuracy,and provide a theoretical basis for the manufacturing and processing of RV Reducer.The main contents are as follows:(1)In this paper,the forces on the contact part of cycloid gear teeth are studied.The contact forces in the area are analyzed by ADAMS software.The static analysis of the contact boundary of cycloid gear is discussed and the cycloid gear is modified.The model of cycloid gear sector hole is established.The deformation of three kinds of hinge supports is simulated.After the modal analysis,the non-linear stress nephogram before and after the modification is obtained and the model is verified Finally,some conclusions that affect the transmission accuracy are obtained.(2)According to the equivalent model method,the dynamic error model of RV Reducer is established.The model mainly involves the sun wheel,planetary gear,cycloid wheel,crank shaft,planet carrier and other key parts.The dynamic substructure method and the mass concentration method are used to discrete and equivalent the parts.A twenty-two order dynamic model is established,and the numerical integration method is used to solve the mass,stiffness and other parameters in the differential equation of dynamics.(3)Taking RV-80 E reducer as the research object,the 22 nd order dynamic differential equation is solved by MATLAB simulation software,and the transmission error curve is obtained.The single factor method is used to simulate and analyze seven kinds of error factors,such as sun wheel eccentricity error,planet gear eccentricity error,cycloid wheel eccentricity error,crank shaft hole eccentricity error,respectively.The corresponding transmission error curves are obtained.By comparing with the transmission error curves of the whole machine,the error factors that affect the transmission accuracy are obtained.(4)In order to simulate the actual transmission process,a rigid flexible coupling model of RV Reducer is established and the dynamic simulation is carried out by using the flexible body constraint of cycloid wheel under the consideration of clearance and elastic deformation.The transmission error curve of RV Reducer under the joint action of various error factors is obtained,and the conclusion that the transmission accuracy is affected is further analyzed.(5)The transmission error test system of RV Reducer is used to test the transmission error of three domestic and foreign RV reducers.The positive and negative transmission error curves are obtained,the feasibility of RV Reducer dynamic model is verified,and the main factors affecting the transmission error of RV Reducer are verified.