Dynamic Modeling And Fatigue Optimization Analysis Of RV Reducer

As a key component of industrial robots,reducer has a significant impact on the comprehensive performance of robots.In recent years,according to the research status of relevant scholars on the failure of reducer,the failure of reducer is mostly caused by the bending fatigue failure of gear tooth root.Therefore,fatigue life prediction and further optimization design of RV reducer have very important practical significance.In this paper,the transformation gear train method is used to theoretically analyze the transmission speed of each component and derive the transmission ratio and meshing frequency value of the system.A simplified mechanical model of the reducer is established to analyze the meshing contact force between the cycloidal disc and the pair of teeth and the involute gear pair.Then,the geometric model of RV reducer is established by using SolidWorks,which is a three-dimensional modeling software.The simplified geometric model is assembled,checked and simplified appropriately.The finite element modal simulation and modal test of the key components and the whole machine in the RV reducer are carried out respectively.It is found that the natural frequency of the reducer is far away from the meshing frequency and has good dynamic characteristics.The virtual prototype of the RV reducer is constructed and the dynamics simulation calculation is carried out to obtain the speed characteristics and the meshing contact force variation curves of each transmission component,which provides data support for further fatigue life analysis.Simplified Involute Gear as Three-tooth Simplified Model,the distribution of bending stress is analyzed to determine the dangerous part of bending fatigue.Based on the finite element analysis results and the load spectrum obtained by dynamic simulation,the fatigue life prediction was carried out in the fatigue analysis software MSC.Fatigue,and the bending fatigue life of the gear pair under actual working conditions was obtained.Finally,aiming at the problem that the gear fatigue life is quite different,the gear parameter optimization design model is established according to the principle of equal strength.The optimal design variables are determined based on the influence of the basic parameters of the gear on the objective function.The strength and the dimensional relationship between the parameters are used as constraints,used the genetic algorithm to solve the optimization model.An optimized design model was established to compare the performance differences of the structures before and after optimization to evaluate the results of gear parameter optimization.