Analysis And Experimental Study On Transmission Accuracy Of The 2K-V Reducer For Industrial Robots

2K-V reducer is a planetary drive that consists of involute planetary drive and cycloidal-pin wheel drive.While having large transmission ratio,high transmission precision,small volume,high rigidity,compact structure,it is widely used as the joint reducer of the industrial robot.The kinematic accuracy of industrial robot mainly depends on the transmission accuracy of its joint reducer,while the transmission accuracy of the joint reducer is related to various errors in the process of processing and assembling.Therefore,theoretical analysis and experimental study on the transmission accuracy are of great significance.In this paper,the influence of some error factors on the transmission accuracy of the reducer is analyzed theoretically,and tested experimentally.The main research contents are as follows:(1)A mathematical model of 2K-V reducer is established based on the mass-spring equivalent model method.Then error factors of the main parts,including crankshaft,cycloid wheel and pin wheel,are analyzed by univariate analysis to study the influence of their values and phase angles.By means of orthogonal design to make a computer simulation experiments based on the mathematical model,and ascertain the significance of every error factors when they are acting together.Finally,make an optimizing design to preliminarily formulate the tolerance control scheme of key parts of the reducer.(2)Aiming at the inaccurate modeling of the modal flexible body for the non-linear contact,the complete finite element flexible body of cycloid wheel is established by using MFBD technology in RecurDyn,thus the rigid-flexible coupling virtual prototype model of 2K-V reducer is obtained.The transmission error curve is obtained by dynamic simulation to analyze the influence of cycloid wheel's flexibility,and the cycloid wheel's modification and pin wheel's dimension errors considering the flexibility of cycloid wheel.(3)The transmission error of imported and domestic 2K-V reducer is tested by the transmission error test bench to obtain their actual transmission error curve,and a spectrum analysis is carried out to preliminarily determine the existing problems of the tested reducer.The research results of the paper can provide some theoretical support for the actual processing and manufacturing of 2K-V reducer,and have guiding significance for promoting the localization of 2K-V reducer.