机器人RV减速器传动误差的测量与分析  

Measurement and Analysis of Transmission Error of the Robot RV Reducer

作　　者：王海霞 吴清锋 吴艺波 王清忠 郑柏恒 胡伟健 Wang Haixia;Wu Qingfeng;Wu Yibo;Wang Qingzhong;Zheng Boheng;Hu Weijian(China National Quality Supervision and Testing Center for Industrial Robots(Guangdong),Guangdong Testing Institute of Product Quality Supervision,Foshan 528300,China)

机构地区：[1]广东产品质量监督检验研究院国家工业机器人质量监督检验中心(广东)

出　　处：《机械传动》2020年第2期104-108,共5页Journal of Mechanical Transmission

基　　金：广东省市场监督管理局2019年度科研项目资助计划（2019ZZ01）;广东省质量技术监督局2018年科技专项经费资助项目（2018ZZ02）

摘　　要：为准确测量机器人RV减速器的传动误差,分析测量过程中负载和输入转速的影响,指导机器人RV减速器的测量和应用,通过选型关键测试部件搭建了由驱动模块、加载模块、控制模块、测量模块、软件模块和机械模块组成的机器人RV减速器综合试验台,测量了RV-40E和RV-320E不同条件下的传动误差值,得到了传动误差曲线图。基于实验数据拟合出负载、输入转速、不同型号和传动误差之间的关系,分析了负载、输入转速、刚度对于传动误差的影响。结果表明,机器人RV减速器的传动误差随着负载和输入转速的增大而增大,随着刚度的增大而减小,负载对传动误差测量值的影响为3阶次,对其影响较大。In order to measure the transmission error of the robot RV reducer accurately and analyze the influence of the load and input speed during the measurement process,then guide the measurement and applica⁃tion of the robot RV reducer,a robot RV reducer comprehensive test bench consisting of a control module,a measurement module,a software module and a mechanical module is built by selecting key test components,the transmission errors of RV-40E and RV-320E under different conditions are measured,and the transmission er⁃ror curves are obtained.The relationships of transmission error between load,input speed and different models is fitted based on the experimental data,and the influence of load,input speed and stiffness on the transmission er⁃rors is analyzed.The results show that the transmission error of the robot RV reducer increases with the increase of the load and input speed,and decreases with the increase of the rigidity,and find that the influence of the load on the measured transmission error is third order,which has a greater impact.

关 键 词：机器人 RV减速器 传动误差 测量 负载 输入转速 

分 类 号：TH132.46[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]