| RV(Rotate Vector)reducer,as one of the indispensable components for the development of the robot industry,is widely used in industrial robots,machine tools,medical and other high-end equipment fields.Solving the key core technical difficulties of the reducer and realizing the development of high-precision and high-reliability reducer has always been a long-term concern in China,among which improving the detection accuracy of the performance parameters of the reducer is an important prerequisite for improving the manufacturing accuracy of the domestic reducer,but the current reducer performance testing platform is difficult to solve the offset error generated during the testing process,that affects the accurate detection of the comprehensive performance indicators of the reducer,resulting in the detection performance index is difficult to be used to further improve the reducer.Therefore,it is of great important to design an adjustment mechanism suitable for the RV reducer test bench to improve the accuracy of the domestic RV reducer.In this paper,aiming at the problem that the existing RV reducer test bench has offset errors due to accumulated errors during use,resulting in low detection accuracy of relevant performance indicators of the reducer,a composite adjustment mechanism method that can adjust the position of the RV reducer is proposed to realize the adjustment of the offset error of the RV reducer,establish a composite adjustment mechanism control system,introduce a nonlinear marine predator algorithm,and realize the optimization of the transmission PID algorithm.The performance of the PID optimization algorithm of the marine predator algorithm and the traditional PID algorithm are compared to verify the effectiveness and feasibility of the PID optimization algorithm based on nonlinear marine predator in terms of precision control and response speed.The research direction and content are as follows:(1)Based on the statics analysis of the traditional RV reducer test bench based on Ansys,the transmission system model of the reducer test bench is established,and the transmission system model is simplified.Then,through the statics analysis of the transmission system of the reducer test bench under torque load,the corresponding deviation error is obtained;Based on the static analysis results,two design schemes of adjustment mechanism are proposed,and the scheme of the composite adjustment mechanism is determined through the detailed analysis of the performance and cost of the two schemes,and the model is selected according to the technical parameters of the core components such as electric actuators and guide rails in the composite adjustment mechanism.(2)Based on the D-H coordinate method,the coordinate system of the compound adjustment mechanism is established,and the kinematics equation of the compound adjustment mechanism is established.The positive and negative solutions of the kinematics equation are solved and checked,and the initial position and pose of the mechanism and the range of motion are preliminarily verified;Based on Admas,the kinematics simulation of the compound adjustment mechanism is carried out,and the displacement,velocity and acceleration curves in the X,Y,Z directions of the mechanism,as well as the angular velocity and angular acceleration curves in the X,Y directions are obtained.The mechanism has no dead point and interference problems,and has good kinematic characteristics and the correctness of the positive and negative solutions.(3)According to the offset error adjustment of the RV reducer in actual work,a control system with dynamic response is established.Firstly,the dynamic simulation of the composite adjustment mechanism is carried out to verify the good dynamic characteristics of the mechanism.Then,the control system was co-simulated with Admas and Matlab(Simulink)software,and the PID algorithm,the MPA optimized PID algorithm and the nonlinear marine predator(NMPA)optimized PID algorithm were used to compare the simulation experiments to verify the performance of the nonlinear marine predator optimization PID algorithm in terms of adjustment accuracy and dynamic response.Finally,the experimental research of the existing RV reducer test bench in the laboratory verifies the multi-faceted performance of the control system. |
