Research On Reducer Optimization Design Based On Nutation Drive And Prototype Development

The nutation reducer is mainly applied to the main joints of the robot as the transmission device,and has the advantages of large reduction ratio,high ratio of contact,simple structure,no backlash and large bearing capacity.In this paper,based on the theory of nutation gear tooth profile curve equation and fixed rotor meshing point equation,the influence of the involute tooth profile on the meshing speed reducer meshing efficiency is first studied,and the profile of the involute tooth profile is deduced.The curve equations and the meshing point equations are analyzed and it is concluded that the involute tooth profile is not suitable as a pinion type gear reducer due to excessive interference.Secondly,single parameter method is used to study the influence of the main parameters of the arc-shaped nutation reducer on the meshing efficiency,and the optimal range of the main parameters is obtained based on the geometric interference condition.Taking the genetic algorithm as the core idea,the design of the nutation reducer is to take the rotor radius,the rotor gear radius,the number of teeth of the rotor gear,the cone angle of the rotor gear and the nutation angle of the rotor gear as the design variables,Based on the sub-objective function of the transmission efficiency,total volume and tooth surface contact stress of the reducer,the multi-objective optimization function of the nutating gear reducer was established through the analytic hierarchy process and the subobjective function,and the optimal design of the variable group after optimization calculation was obtained.the optimized design of the variable group of the optimized variable group is used as the design basis to design the nutation reducer.The threedimensional parametric model of the nutation reducer is obtained.The kinematics and dynamics of the three-dimensional model of the nutation reducer are analyzed by the software ADAMS.The force variation curve between the pressure roller pair and the bottom surface of the rotor gear and the tooth surface of the stator gear and the rotor gear are calculated respectively in the nutation motion.The contact force curve is changed and compared with the theoretical value.The modal analysis and harmonic response analysis of the input mechanism,output mechanism,and stator gear of the nutation reducer were performed by ANSYS software.Transient dynamics were calculated for the simplified mechanism of the nutation reducer,and the tooth surface contact stress was checked.The force deformation distribution and real-time transmission ratio of the simplified model of the reducer were analyzed and compared with the theoretical values.Based on nutation gear meshing principle,optimized parameter model and reliability analysis of virtual prototype test,a prototype of the nutation reducer was developed and processed,and a test stand matched with the nutation reducer prototype was designed to test the basic parameters.And compared with the theoretical value and the virtual simulation value.