RV减速器扭转刚度特性分析  

Analysis of the Characteristics of Torsional Stiffness of RV Reducer

作　　者：杨玉虎[1] 朱临宇 陈振宇[1] 沈兆光[1] 

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300072

出　　处：《天津大学学报（自然科学与工程技术版）》2015年第2期111-118,共8页Journal of Tianjin University：Science and Technology

基　　金：国家高技术研究发展计划(863计划)资助项目(2011AA04A102)

摘　　要：以广泛应用于机器人关节的RV减速器为对象,针对其结构特点,构建了减速器整机的几何模型,以及在ANSYS环境下考虑轴承刚度、轮齿啮合刚度及各构件弹性的有限元模型,分析得出了对应曲柄轴自转1周的整机扭转刚度的变化规律;与实验结果比较,验证了该模型的有效性与计算精度.在此基础上,应用该模型进一步分析了摆线轮与针齿啮合齿数以及轴承刚度变化对整机扭转刚度的影响规律.结果表明:轴承刚度是影响整机扭转刚度变化的主要因素;在分析整机扭转刚度特性时,将轴承刚度按非线性变化规律考虑时能够更精确地揭示整机的扭转刚度特性.The RV reducer,which is widely used in the robot joint,was studies as the research object. The geomet-ric model is constructed based on the structural features of RV reducer,and the FEA model is also established consid-ering bearing stiffness,meshing stiffness of gears,and elasticity of components on the platform of ANSYS. The variation of torsional stiffness,which is generated in a period of rotation of the crank shaft,is compared with the experimental results in order to certify the validity and computational accuracy of the model. By applying this FEA model,the effect of bearing stiffness and the mating tooth number between cycloidal gear and pin gear is further ana-lyzed. The result indicates that the bearing stiffness is the dominant factor that affects the torsional stiffness. Consider-ing the nonlinear variation of the bearing stiffness can reveal the characteristics of torsional stiffness more precisely.

关 键 词：RV减速器 扭转刚度 轴承刚度 啮合刚度 

分 类 号：TH132.414[机械工程—机械制造及自动化]