RV减速器传动系统动力学特性分析  

Dynamics Characteristic Analysis of RV Reducer Transmission System

作　　者：庞杰 韩振南[1] PANG Jie;HAN Zhen-nan(College of Mechanical Engineering,Taiyuan University of Technology,Shanxi Taiyuan030024,China)

机构地区：[1]太原理工大学机械工程学院,山西太原030024

出　　处：《机械设计与制造》2021年第1期147-151,155,共6页Machinery Design & Manufacture

基　　金：太原理工大学核心课程建设项目。

摘　　要：为深入研究工业机器人用RV减速器动力学特性,采用集中参数法,综合考虑啮合阻尼、时变啮合刚度以及综合啮合误差,建立了RV传动耦合扭转动力学模型,通过数值解法对建立的动力学方程进行求解,得到其振动位移、振动角速度响应及各齿轮副动态啮合力。基于UG与ADAMS建立RV减速器动力学模型,进行仿真分析实验,验证动力学模型的正确性。通过改变啮合刚度分析了啮合力的变化,随着啮合刚度的增加,在一定范围内,传动过程中的啮合力更加稳定,为RV减速器的故障诊断和优化设计奠定基础。In order to study the dynamic characteristics of RV reducer for industrial robots,a coupling torsional dynamics model of RV reducer transmission system is built by using lumped-parameter method.Considering the meshing damping,the time varying meshing stiffness and the comprehensive meshing error,the numerical method is used to simulate the dynamics performance of RV reducer,and the vibration displacement,vibration angular velocity response and dynamic meshing force of each gear pair are obtained..Creating the dynamic model of RV reducer with UG and ADAMS,the simulation analysis experiment was carried out to verify the correctness of the dynamic model.The change of meshing force is analyzed by changing meshing stiffness.With the increase of mesh stiffness,the meshing force in the transmission process is more stable within a certain range.The research results can lay a good theoretical foundation for fault diagnosis and optimization design for RV reducer.

关 键 词：RV减速器 时变啮合刚度 传动误差 动态响应 

分 类 号：TH16[机械工程—机械制造及自动化] TH132.41