工业机器人RV减速器传动误差分析

发布时间：2018-04-12 12:25

本文选题：RV减速器 + 传动误差　；参考：《西安交通大学学报》2017年10期

【摘要】：以RV减速器为研究对象,结合其第2级摆线针轮传动机构的多齿啮合特性,采用作用线增量法,分析了各个针齿与摆线轮啮合处的原始误差造成的摆线轮自转误差,得到多齿啮合下的摆线轮输出转角误差,并以此为基础,建立了传动误差分析模型,研究了各个构件的原始误差对输出转角误差的影响规律,揭示了各个构件的原始误差的传递过程。对320E样机进行了实例计算和实验研究,结果表明:输出盘轴孔偏心误差对样机的传动误差影响最大,其次是摆线轮齿形误差和曲柄轴偏心误差,行星轮偏心误差的影响最小;位于低速级的原始误差影响较大,而位于高速级的原始误差影响较小;输出盘与行星架相联造成的反馈引起的传动误差很小,但在精密传动中仍不可忽略。
[Abstract]:Taking the RV reducer as the research object, combined with the multi-tooth meshing characteristic of the second level cycloidal needle wheel drive mechanism, using the action line increment method, the rotation error of the cycloid wheel caused by the original error between the needle tooth and the cycloid wheel meshing is analyzed.The output angle error of cycloidal gear under multi-tooth meshing is obtained. On the basis of this, the transmission error analysis model is established, and the influence of the original error of each component on the output angle error is studied.The transmission process of the original error of each component is revealed.The example calculation and experimental study of 320E prototype are carried out. The results show that the eccentric error of the output disk shaft has the greatest influence on the transmission error of the prototype, followed by the gear profile error of the cycloid gear and the eccentric error of the crank shaft, and the influence of the eccentric error of the planetary gear is the least.The original error in the low speed stage is greater than that in the high speed stage, and the transmission error caused by the feedback caused by the connection between the output disk and the planetary frame is very small, but it can not be ignored in the precision transmission.
【作者单位】：西安交通大学机械制造系统工程国家重点实验室;
【基金】：国家科技重大专项资助项目(2014ZX04013011)
【分类号】：TH132.46;TP242.2

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