Dynamic Simulation Research Of Compound Cycloidal Transmission

In the context of China's manufacturing 2025,industrial robots,as an important part of intelligent manufacturing units,have entered a stage of rapid development.The joint reducer is a precision transmission component in industrial robots.In order to improve the stability and safety of industrial robot operation,it is especially important to design and develop a new joint reducer.Aiming at the special requirements of light-weight and precision in the application of joint reducer,this paper proposes a new type of complex cycloidal reducer that can be applied to industrial robots based on the theory of cycloidal pinwheel transmission.The research on the transmission principle,structural characteristics,3D solid modeling,virtual prototype simulation analysis and finite element analysis of the compound cycloid reducer is carried out.The main research results are as follows:(1)Explain the transmission principle of the compound cycloidal transmission,and use the conversion mechanism method to derive the transmission ratio formula of the compound cycloidal reducer.The two-dimensional drawing of the compound cycloid reducer is drawn,and the structural composition of the reducer is analyzed.The basic parameters of the compound cycloidal drive and the main structural dimensions of the reducer are briefly introduced.(2)Under the assembly module,the constraint relationship between the transmission parts is defined,and the whole machine assembly of the three-dimensional solid model is completed and the interference check is performed.The assembly relationship between the various parts is verified by establishing the assembly explosion diagram,which lays the foundation for the dynamic simulation of the virtual prototype model.(3)Construct a virtual prototype model of the compound cycloid reducer for multi-body dynamics simulation.Obtain the angular velocity curves of the output pin gear case under no-load condition and load state,respectively.The meshing force between the cycloidal wheel and the pin teeth,the force between the pin bushing and the cycloidal wheel and the counterforce of the swing arm hinge are analyzed.The simulation results are compared with the theoretical calculation values to verify the speed ratio characteristics and structural design correctness of the complex cycloid reducer.(4)The cycloidal wheel is the core component of the compound cycloidal transmission.The finite element model of the two-stage cycloidal wheel is created by finite element software to mesh and constrain.After applying the corresponding constraints,the appropriate analysis type is selected to solve the dynamic characteristics of the cycloidal wheel,and the natural frequency and vibration mode cloud diagram of the two-stage cycloidal wheel are obtained,which lays a foundation for the dynamic response analysis of the reducer and the analysis of other dynamic characteristics.