不同约束状态下RV-40E型减速器动力学建模与仿真分析  

Dynamic Modeling and Simulation Analysis of RV-40E Reducer Under Different Constraint States

作　　者：古莹奎[1] 杨文浩 刘鹏 GU Ying-kui;YANG Wen-hao;LIU Peng(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《制造业自动化》2025年第2期172-179,共8页Manufacturing Automation

基　　金：国家自然科学基金(61963018);江西省自然科学基金(20212ACB202004)。

摘　　要：针对工业机器人广泛应用的RV减速器,建立纯扭转动力学模型,该模型包含了影响振动的关键因素,如输入轴扭转刚度、行星齿轮和摆线针轮啮合刚度以及轴承支撑刚度等。在动力学模型基础上推导出系统动力学微分方程,求解出系统固有频率和振型。结合模态分析的理论基础,采用有限元分析方法分别研究了RV减速器在自由、轴承约束以及固定约束等多种约束状态下的模态特性,得到了RV减速器在不同约束状态下的频率分布和振型特性的仿真结果。结果表明:在轴承约束和固定约束共同作用的啮合工作状态下,RV减速器的固有频率分布和模态振型均发生明显变化,其模态分析仿真结果与理论计算结果更接近,更加符合实际工作状态。A pure torsional dynamics model is developed for RV gearboxes which are widely used in industrial robots.The model contains key factors affecting vibration,such as input shaft torsional stiffness,planetary gear and cycloid mesh stiffness and bearing support stiffness.On the basis of the dynamics model,the differential equations of the system dynamics are derived,and the intrinsic frequency and vibration pattern of the system are solved.Combined with the theoretical basis of modal analysis,the modal characteristics of the RV gearbox under various constraints such as free,bearing constraints and fixed constraints are investigated by using the finite element analysis method,and the simulation results of the frequency distributions and vibration characteristics of the RV gearbox under different constraints are obtained.The results show that the simulation results of the modal analysis of the RV gearbox are closer to the theoretical calculation results and more in line with the actual working condition under the meshing working condition of bearing constraint and fixed constraint.

关 键 词：RV减速器 动力学模型 固有频率 模态分析 有限元仿真 

分 类 号：TH113[机械工程—机械设计及理论]