RV减速器二级减速部分原始误差分析  

Original Error Analysis of the Second Reduction Part of RV Reducer

作　　者：郑钰馨 奚鹰[1] 李梦如[1] 华滨滨 柳先辉[2] Zheng Yuxin Xi Ying Li Mengru Hua Binbin Liu Xianhui(School of Mechanical Engineering, Tongji University, Shanghai 201804, China School of Electronics and Information Engineering, Tongii University, Shanghai 201804 , China)

机构地区：[1]同济大学机械与能源工程学院,上海201804 [2]同济大学电子与信息工程学院,上海201804

出　　处：《机械传动》2017年第9期11-17,共7页Journal of Mechanical Transmission

基　　金：上海市科技创新计划项目(15111102702);中央高校基本科研业务费专项资金(20153712)

摘　　要：RV减速器是机器人用高精度减速装置,其传动允许转角误差不大于1',所以,在制造和装配过程中的各因素会严重影响其传动精度。摆线轮、曲柄轴、输出机构作为其二级减速部分重要传动零部件,其原始误差严重影响整机传动精度。通过建立传动四杆机构模型,将三者之间的误差影响关系表述出来,并直接建立二级减速部分输入和输出转角之间关系,通过四杆机构分析,得到三者对传动精度影响规律,进而建立偏差取舍标准和控制措施,能够对制造和装配起到一定的理论指导作用。RV reducer is used in robot as a high precision speed reducer and its allowable transmission ro- tation angle error is less than 1＇, so, in the process of manufacturing and assembling, there are many factors which influence the transmission accuracy of RV reducer seriously. The cycloid gear, crankshaft, output mech- anism are important transmission components in the second reduction part, their original errors result in the in- accuracy of the whole machine. Through establishing a transmission four bar mechanism model, the relationship between the three components is expressed, and the direct relationship between input angle and output angle of the second reduction part is established. Through analyzing the four bar model, the effect rules of error on the transmission accuracy is got, the design standard of deviation is established and then error control method is ex- plored, the whole work can play a guiding role in manufacturing and assembling process.

关 键 词：RV 减速器 原始误差分析 传动精度 偏差 

分 类 号：TH132.46[机械工程—机械制造及自动化]