RV减速器的动态特性分析
发布时间：2018-08-02 15:59
【摘要】：RV减速器是在一般的摆线针轮减速器的基础上开发研制出来的一种二级减速装置,目前已经广泛应用于工业机器人等精密传动领域中。随着现代机械行业的迅速发展,实际工程中对RV减速器的高速、高效、运动平稳的性能要求也不断提高。因此对其进行动态特性分析以及实验研究具有重要意义。本文采用有限元软件和虚拟样机技术,在理论的传动特性分析,整机的有限元模态分析、动态模拟仿真分析以及实验测试方面展开了对RV减速器的动态特性研究。主要完成以下工作:基于RV减速器的工作原理及特点,分析其传动过程,研究关键零部件的受力情况,理论计算出各传动零部件的转速、啮合频率以及摆线轮和针齿之间接触的啮合作用力。结合SolidWorks和ANSYS Workbench软件,建立特定型号RV减速器各构件的三维实体模型,并完成虚拟装配和减速器整机的有限元模态分析。得出系统的固有频率以及对应的振型,分析各阶的振型以及关键部位的变形情况。利用Adams软件,建立RV减速器的虚拟样机模型,完成了动力学模拟仿真。研究各传动构件的角速度、角加速度以及摆线轮与针齿之间接触产生的啮合力随时间变化的规律,并且分析载荷对减速器振动的影响。通过RV减速器综合测试平台,对其振动特性进行实验测试,得出不同工况下RV减速器的加速度响应随时间变化的曲线,并通过快速傅里叶变换得到相应的频域图。通过对RV减速器理论、模态、仿真以及实验分析,完成了对其动态特性的研究。有限元模态分析结果得出,该RV减速器在正常工况下不会出现共振现象,动态性能良好。动态仿真分析结果显示,在稳定传动阶段,关键构件的角速度、角加速度以及摆线轮与针齿间的啮合力均呈现周期性的正弦规律变化,并且与理论分析相吻合,证明了RV虚拟样机模型的合理可靠性。最后由振动测试实验得出减速器加速度响应的时域和频域图表明,负载在一定程度上抑制了减速器的振动,频域图上的峰值对应了理论啮合频率,验证了仿真与理论分析的正确性。
[Abstract]:RV reducer is a kind of two-stage deceleration device developed on the basis of general cycloidal needle wheel reducer, which has been widely used in the field of precise transmission such as industrial robot. With the rapid development of modern machinery industry, the performance requirements of RV reducer in practical engineering such as high speed, high efficiency and steady movement are also improved. Therefore, it is of great significance to analyze its dynamic characteristics and to study it experimentally. In this paper, using finite element software and virtual prototyping technology, the dynamic characteristics of RV reducer are studied in the aspects of theoretical transmission characteristic analysis, finite element modal analysis of the whole machine, dynamic simulation analysis and experimental test. The main work is as follows: based on the working principle and characteristics of RV reducer, the transmission process is analyzed, the stress of key parts is studied, and the rotational speed of each transmission part is calculated theoretically. Meshing frequency and engagement force between cycloid wheel and needle tooth. Combined with SolidWorks and ANSYS Workbench software, the 3D solid model of each component of specific type RV reducer is established, and the finite element modal analysis of virtual assembly and reducer is completed. The natural frequencies and corresponding modes of the system are obtained, and the vibration modes of each order and the deformation of the key parts are analyzed. Using Adams software, the virtual prototype model of RV reducer is established, and the dynamics simulation is completed. The changes of angular velocity, angular acceleration and contact force between cycloid wheel and needle tooth with time are studied, and the influence of load on the vibration of reducer is analyzed. The vibration characteristics of RV reducer are tested by the synthetic test platform. The curve of acceleration response of RV reducer with time is obtained under different working conditions, and the corresponding frequency domain diagram is obtained by fast Fourier transform. The dynamic characteristics of RV reducer are studied by means of theoretical, modal, simulation and experimental analysis. The results of finite element modal analysis show that the RV reducer does not exhibit resonance under normal working conditions and its dynamic performance is good. The dynamic simulation results show that the angular velocity, angular acceleration and the engagement force between cycloid wheel and needle teeth all show periodic sinusoidal changes in the stable transmission stage, which are consistent with the theoretical analysis. The reasonable reliability of RV virtual prototype model is proved. Finally, the time domain and frequency domain diagrams of the acceleration response of the reducer are obtained from the vibration test results. It is shown that the vibration of the reducer is restrained to some extent by the load, and the peak value in the frequency domain corresponds to the theoretical meshing frequency. The correctness of simulation and theoretical analysis is verified.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH132.46
本文编号：2159953
[Abstract]:RV reducer is a kind of two-stage deceleration device developed on the basis of general cycloidal needle wheel reducer, which has been widely used in the field of precise transmission such as industrial robot. With the rapid development of modern machinery industry, the performance requirements of RV reducer in practical engineering such as high speed, high efficiency and steady movement are also improved. Therefore, it is of great significance to analyze its dynamic characteristics and to study it experimentally. In this paper, using finite element software and virtual prototyping technology, the dynamic characteristics of RV reducer are studied in the aspects of theoretical transmission characteristic analysis, finite element modal analysis of the whole machine, dynamic simulation analysis and experimental test. The main work is as follows: based on the working principle and characteristics of RV reducer, the transmission process is analyzed, the stress of key parts is studied, and the rotational speed of each transmission part is calculated theoretically. Meshing frequency and engagement force between cycloid wheel and needle tooth. Combined with SolidWorks and ANSYS Workbench software, the 3D solid model of each component of specific type RV reducer is established, and the finite element modal analysis of virtual assembly and reducer is completed. The natural frequencies and corresponding modes of the system are obtained, and the vibration modes of each order and the deformation of the key parts are analyzed. Using Adams software, the virtual prototype model of RV reducer is established, and the dynamics simulation is completed. The changes of angular velocity, angular acceleration and contact force between cycloid wheel and needle tooth with time are studied, and the influence of load on the vibration of reducer is analyzed. The vibration characteristics of RV reducer are tested by the synthetic test platform. The curve of acceleration response of RV reducer with time is obtained under different working conditions, and the corresponding frequency domain diagram is obtained by fast Fourier transform. The dynamic characteristics of RV reducer are studied by means of theoretical, modal, simulation and experimental analysis. The results of finite element modal analysis show that the RV reducer does not exhibit resonance under normal working conditions and its dynamic performance is good. The dynamic simulation results show that the angular velocity, angular acceleration and the engagement force between cycloid wheel and needle teeth all show periodic sinusoidal changes in the stable transmission stage, which are consistent with the theoretical analysis. The reasonable reliability of RV virtual prototype model is proved. Finally, the time domain and frequency domain diagrams of the acceleration response of the reducer are obtained from the vibration test results. It is shown that the vibration of the reducer is restrained to some extent by the load, and the peak value in the frequency domain corresponds to the theoretical meshing frequency. The correctness of simulation and theoretical analysis is verified.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH132.46
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