Analysis And Experimental Research On Transmission Error Of RV Reducer

RV reducer is a new type of two-stage closed transmission mechanism.Because of its advantages of good rigidity,high reliability,high transmission efficiency,small rotary transmission error and small vibration impact,RV reducer is widely used in the robotics industry and high precision instruments.As the core component of robot joint,RV reducer has a great impact on the transmission characteristics and working performance of industrial robots.Its transmission accuracy determines the joint motion accuracy of industrial robots.Therefore,the influence factors of transmission error of RV reducer are studied to find out the influence law,which can effectively improve the transmission accuracy of RV reducer on the premise of cost saving.This topic takes RV reducer as the research object,analyses its structure and transmission principle,combines with mechanical dynamics theory,and uses ADAMS simulation software and RV reducer transmission error test experiment to launch the following research.(1)According to the basic structure of RV reducer,the working principle of the transmission process of RV reducer was analyzed and the transmission ratio of RV reducer was calculated.By analyzing the meshing principle of the main parts in the first and second transmission mechanisms of RV reducer,the equivalent displacement errors corresponding to the processing errors,assembly error,clearance,contact between parts of the parts and micrometric displacement were calculated according to the error types and the error action modes of the parts.According to the principle of mass spring equivalence and the translation-torsion coupling model,the dynamic transmission error mathematical model of RV transmission system was established.Based on the RungeKutta differential equation solution method,the dynamic transmission error mathematical model of RV reducer was solved,and the influence of different modification methods on the transmission error of RV reducer was analyzed and compared.(2)The three-dimensional assembly model of RV reducer with error of main parts was established by Solidworks.The three-dimensional model was imported into ADAMS dynamic simulation software.The method of equivalent cycloid pin gear meshing and collision was studied by using IMPACT contact function in ADAMS simulation software.The simulation transmission error of RV reducer was obtained by integrating the output speed data of the post-processing interface in the simulation with MATALAB.The transmission error calculated by the mathematical model was analyzed and verified.The combination of crankshaft eccentricity error and crankshaft hole eccentricity error and the influence of different torques on the transmission error of RV reducer were further studied.(3)The test platform of RV transmission error was set up,and the transmission error of RV reducer was tested.The transmission error data obtained from RV reducer test were compared and verified with the transmission error calculated from mathematical model.The test transmission datas of RV reducer were converted to the spectrum by using MATALAB.The influence rule of error factors on transmission error is analyzed and the main factors were studied separately.The effect of single error factor on transmission error of RV transmission system and its causes were analyzed.