Analysis And Evaluation Of Transmission Accuracy Of RV Reducer

RV reducer is the core component of the robot,and its transmission accuracy will directly affect the motion accuracy of the actuator.However,when analyzing the influence of fundamental error on transmission accuracy,most existing studies only consider a single factor or local factor,and the analysis is not comprehensive.On the other hand,the research on constant load in customary conditions has not met the market demand for RV reducers.Therefore,by comprehensively considering the influence of each fundamental error on the accuracy,the traditional single load research is extended to the field of multi-load conditions,which will significantly improve the transmission accuracy and service life of the RV reducer.Therefore,this paper focuses on the transmission error and backlash of two crucial indicators of transmission accuracy in RV reducer.Through theoretical analysis,numerical simulation,dynamic simulation,and transmission accuracy experiment,the transmission accuracy of RV reducer is analyzed from manufacturing error,assembly error,and external operating conditions.The main research contents are as follows:(1)Establish a theoretical model of transmission accuracy of RV reducer.Firstly,the RV reducer’s structure characteristics and transmission principle are analyzed,and the formation of the cycloid tooth profile is deduced.Secondly,based on the single-factor error superposition method,the influence of the fundamental errors of the first-order transmission part and the second-order transmission part of the RV reducer on the transmission error and backlash is comprehensively analyzed,and the transmission accuracy analysis model of the RV reducer is established.Finally,the transmission accuracy is simulated based on the Monte Carlo method,and the influence proportion of different transmission parts on the RV reducer is obtained.The results show that the cycloid pin gear transmission part is the main factor affecting the transmission accuracy of the RV reducer.(2)Dynamic transmission accuracy analysis of RV reducer based on virtual prototype technology.The variation law of RV reducer accuracy caused by different working conditions is explored by establishing a rigid-flexible coupling virtual prototype of the RV reducer.The influence of other influencing factors on transmission accuracy is investigated by controlling the speed,load type,and load gradient through the control variable method.At the same time,the multi-factor analysis method is used to explore the influence of load type on dynamic transmission error and dynamic backlash.The experimental results show that the load gradient significantly impacts the dynamic transmission error,and the load type has a significant influence on the emotional backlash.(3)RV reducer transmission accuracy experiment and evaluation.Aiming at the measurement principle of each RV reducer’s precision index,the RV reducer’s comprehensive performance test platform is built.The maximum,minimum,mean,standard deviation,and other evaluation methods are used to evaluate the experimental results of transmission accuracy.Finally,based on the detection platform,the simulation results are verified.The research results lay a foundation for improving RV reducer accuracy and process improvement.