机器人用RV减速器多齿啮合特性研究  

Multi-tooth meshing performance of RV reducer for robot arms

作　　者：王辉[1] 石照耀[1] 林家春[1] 徐航[1] WANG Hui;SHI Zhaoyao;LIN Jiachun;XU Hang(Beijing Engineering Research Center of Precision Measurement Technology and Instruments,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学北京市精密测控技术与仪器工程技术研究中心

出　　处：《哈尔滨工程大学学报》2020年第2期227-234,共8页Journal of Harbin Engineering University

基　　金：国家高技术研究发展计划(2015AA043002)

摘　　要：针对摆线针轮多齿啮合时的接触力对于RV减速器传动精度和疲劳寿命的影响问题,本文研究了RV减速器摆线针轮多齿啮合的动态过程,建立了RV减速器动力学仿真模型。通过仿真计算得到了各摆线针齿啮合点处的法向接触力、摩擦力和接触应力,并与理论公式计算结果进行了对比。最后对RV减速器样机的传动性能进行了测试,确定了摆线针轮传动是引起RV减速器传动误差的主要原因。由RV减速器分段传动误差的标准差分量可以间接地判断摆线针齿不同啮合位置的匹配性,从而经过针对性的齿廓修形进一步提高RV减速器的传动精度。The contact force of a cycloid pin plays a significant role in the transmission accuracy and fatigue life of an RV reducer. The dynamic multi-tooth meshing process of the RV reducer is investigated in this study. First, the dynamic simulation model of the RV reducer was established. Then, the normal contact force, friction force, and contact stress at the meshing point of each cycloid pin were determined by simulation. Subsequently, the contact force calculated by the theoretical formula was compared with that obtained by the simulation. Finally, the transmission performance of the RV reducer prototype was tested. The results showed that the cycloidal drive is the main cause of the transmission error of the RV reducer. The standard deviation component of the transmission error of the RV reducer can indirectly determine the match of the cycloid pin in different meshing positions. Thus, the transmission accuracy of the RV reducer can be further improved through targeted tooth profile modification.

关 键 词：RV减速器 摆线机构 接触摩擦力 接触应力 传动误差 传动误差测试 有限元分析 机器人关节 

分 类 号：TH132.4[机械工程—机械制造及自动化]