精密减速器回差试验台的精度特性  

Accuracy characteristic of test bench of lost motion of precision reducer

作　　者：俞志勇 石照耀[1] 程慧明 于渤[1] 张临涛 YU Zhiyong;SHI Zhaoyao;CHENG Huiming;YU Bo;ZHANG Lintao(Beijing Engineering Research Center of Precision Measurement Technology and Instruments,Faculty of Materials and Manufacturing,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学材料与制造学部北京市精密测控技术与仪器工程技术研究中心,北京100124

出　　处：《光学精密工程》2023年第16期2372-2382,共11页Optics and Precision Engineering

基　　金：中关村开放实验室概念项目资助(No.Q7001004202101);深圳市技术攻关重点项目资助(No.JS⁃GG20220831104001002)。

摘　　要：精密减速器回差试验台是非标设备,迄今对其精度特性缺乏系统性研究以至于还没有检定规程去评定该类测试设备的计量性能。为了评估精密减速器回差试验台的精度特性,提出了试验台精度的评定方法。首先,分析了精密减速器回差试验台的结构,确定了转矩传感器测量误差、角度传感器测量误差、转矩测量链摩擦转矩以及角度测量链弹性扭转角这四个因素是影响试验台精度的主要误差源。接着,研究了误差源的作用机理,提出了通过滞回曲线将转矩类误差转换为角度类误差的方法,统一了误差的类型。然后,提出了滞回曲线局部线性化的概念,实现了转矩类误差转换为角度类误差的简便计算。最后,根据回差的表达式给出了试验台精度的评定方法,并进行了测试实践。结果表明:几何回差的测试误差为±0.04′;弹性回差的测试误差为±0.06′;总回差的测试误差为±0.04′,回差试验台精度满足要求,本文提出的方法对评定试验台精度是有效的。另外,对精密减速器输出端一转范围内多处测试,能提升测试精度。The test bench of lost motion of a precision reducer is a non-standard piece of equipment,and there has been no systematic research on its precision characteristic.Therefore,verification regulation for evaluating the metrological performance of such a test bench is lacking.To evaluate the accuracy character⁃istic of the test bench of lost motion of a precision reducer,an accuracy evaluation method is proposed.First,the structure of the test bench is analyzed,and the main error sources that affect the precision of the test bench are determined.These error sources include the measurement error of the torque sensor,mea⁃surement error of the angle sensor,friction torque of the torque measurement chain,and elastic torsion an⁃gle of the angle measurement chain.Second,the function mechanisms of these error sources are studied,and a method of converting torque error into angle error is proposed through a hysteresis curve so that all types of error are unified as an angle error.Then,the concept of local linearization of the hysteresis curve is proposed to realize the simple calculation of torque error mapped to angle error.Finally,a method of evaluating the accuracy of the test bench is given according to the mathematical expression of lost motion.Testing was conducted,and the experimental results indicate that the test error of geometric lost motion is±0.04′,test error of elastic lost motion is±0.06′,and test error of total lost motion is±0.04′.Conse⁃quently,the accuracy of the test bench of lost motion meets the test requirements,and the method pro⁃posed is effective for evaluating the accuracy of the test bench.In addition,the test accuracy can be im⁃proved by testing several places within one rotation of the output terminal of the precision reducer.

关 键 词：精密减速器 试验台 回差 精度特性 滞回曲线 

分 类 号：TH71[机械工程—测试计量技术及仪器]