RV减速器的传动误差分析

发布时间：2018-01-02 05:36

本文关键词：RV减速器的传动误差分析　出处：《大连交通大学》2012年硕士论文　论文类型：学位论文

【摘要】：RV（Rotate Vector）传动是一种新型的、二级封闭式、少齿差行星传动机构，它是从传统的摆线针轮行星传动基础上发展起来的，近年来多用于高精度机器人传动。该传动具有传动比范围大、体积小、质量轻、运动精度高、回差小、传动效率高、传动平稳、承载能力强等一系列的优点，因而受到广泛关注，发展迅速。本文是基于新世纪优秀人才支持计划资助项目（NCET-07-0127），在已有的有关针摆传动精度研究的基础上，围绕RV减速器的传动误差展开，对整机传动误差进行了分析。因为传动误差是衡量一种减速器传动精度及运转平稳性的重要标准，对其的研究很有必要，同时也可以通过这项研究提高减速器的性能，使其具有更广阔的应用前景。本文根据机构精度理论，分析了影响RV传动误差的误差源，然后从传动过程入手，运用了质量集中法和动态子结构法相结合的方式，建立了RV系统的非线性动力学模型，分析了RV传动的各构件的特性，基于牛顿第二定律建立了二十二自由度的RV传动误差的数学分析模型，该模型考虑了零件的制造装配误差、齿轮的时变啮合刚度、啮合阻尼、轴的扭转刚度、阻尼、转臂轴承与支撑轴承的刚度、阻尼、以及零件的弹性变形等诸多因素。运用Runge-Kutta法来求解该多自由度非线性微分方程组，得到了任意输出时刻，RV传动系统在各误差共同作用下，传动误差随输出轴转角变化的传动误差变化曲线，可以直观了解误差的变化范围。然后分别研究了中心太阳轮、行星轮、曲柄轴、摆线轮、行星架等零件的单项误差对系统整机传动误差的影响，分析影响原因，，得出规律，为今后进一步研究做出准备，也为RV减速器实际加工时，提供参考依据。
[Abstract]:RV ( Rotate Vector ) transmission is a new type , two - stage closed , less - tooth - difference planetary transmission mechanism , which is developed from the traditional cycloidal pinwheel planetary transmission . In recent years , it has many advantages such as large gear ratio range , small volume , light weight , high moving precision , low return difference , high transmission efficiency , stable transmission , strong bearing capacity and so on . This paper is based on the support program of outstanding talents in the new century ( NCET - 07 - 0127 ) . On the basis of the existing research on needle pendulum transmission accuracy , the transmission error of the RV reducer is analyzed . Because the transmission error is an important criterion to measure the transmission precision and operation stability of the reducer , it is necessary to study the transmission error . At the same time , the performance of the reducer can be improved by this research , so that it has wider application prospect . Based on the theory of mechanism accuracy , this paper analyzes the error source which affects RV drive error , then starts with the transmission process , establishes the nonlinear dynamic model of RV system by combining mass concentration method and dynamic substructure method , establishes a mathematical model of RV drive error of twenty - two degrees of freedom based on Newton ' s second law , and takes into account the manufacturing assembly error of the parts , the time - varying meshing stiffness of gears , the torsional stiffness of the shaft , damping , the stiffness and damping of the rotating arm bearing and the supporting bearing , and the elastic deformation of the parts . In this paper , the influence of single error on the transmission error of the system is obtained . The influence of single error of the components such as sun gear , planet wheel , crank shaft , cycloid wheel and planet carrier on the transmission error of the whole system can be intuitively understood . The influence of the single error of the center sun gear , planet wheel , crank shaft , cycloid wheel and planet carrier on the transmission error of the whole machine is studied .

【学位授予单位】：大连交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH132.46

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