精密减速器试验台的精度性能评价体系  

Accuracy Performance Evaluation System for Precision Reducer Testing Machine

作　　者：石照耀[1] 俞志勇 程慧明 于渤[1] 左广祥 SHI Zhaoyao;YU Zhiyong;CHENG Huiming;YU Bo;ZUO Guangxiang(Beijing Engineering Research Center of Precision Measurement Technology and Instruments,Beijing University of Technology,Beijing 100124)

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,北京100124

出　　处：《机械工程学报》2024年第16期62-72,共11页Journal of Mechanical Engineering

基　　金：深圳市技术攻关重点(JSGG20220831104001002);中关村开放实验室概念(Q7001004202101)资助项目。

摘　　要：精密减速器是机器人的核心部件,其传动精度决定了机器人的运动精度。精密减速器试验台是测试精密减速器传动精度的基础装备。然而,迄今对精密减速器试验台的精度特性缺乏系统性研究,以至于还没有专门的检定规程去评定该类测试设备的精度性能,导致对精密减速器试验台的精度评定出现方法不统一、结果不准确等问题。为准确评价精密减速器试验台的精度性能,构建试验台全生命周期的精度评价体系。将试验台精度性能溯源为测试条件稳定性、测量链精度和频域状态三个方面,针对每一方面定义相应的特征量,提出面向生产现场的特征量快速提取方法,建立特征量与试验台精度之间的关系,确定试验台精度失效判定准则。基于课题组研制的精密减速器综合性能试验台,进行持续5年的测试实践。结果表明:特征量的数值与试验台的实际精度保持一致,验证了试验台全生命周期精度评价体系的有效性和可靠性。The precision reducer is the core component of the robot,and its transmission accuracy determines the motion accuracy of the robot.The testing machine for precision reducer is the basic equipment for testing the transmission accuracy of precision reducer.However,so far,there is no systematic research on the accuracy characteristics of testing bench for transmission accuracy.Therefore,the verification regulation to evaluate the accuracy performance of such testing machine is still a gap.This leads to inaccurate results and inconsistent evaluation in the accuracy evaluation of the precision reducer testing machine.In order to accurately evaluate the accuracy performance of testing machine for precision reducer,an accuracy evaluation system for the whole life cycle of testing machine is constructed.The accuracy performance of testing machine is traced back to three aspects:test condition stability,measurement chain accuracy and frequency domain state.The corresponding characteristic quantities are defined for each aspect,and a rapid extraction method of characteristic quantities for the production site is proposed.The relationship between the characteristic quantities and the accuracy of testing machine is established.The accuracy failure criterion of testing machine is determined.Based on the comprehensive performance testing machine for precision reducer developed by the research group,the test practice for 5 years has been carried out.The results show that the value of the characteristic quantity is consistent with the actual accuracy of testing machine,which verifies the validity and reliability of the whole life cycle accuracy evaluation system of testing machine.

关 键 词：精密减速器 试验台 传动精度 全生命周期 精度评价体系 

分 类 号：TH71[机械工程—测试计量技术及仪器]