高精度机器人减速器静态性能测试试验研究

Experimental study on high precision robot reducer static performance testing

在分析RV减速器主要性能要求的基础上,搭建RV减速器静态精度测试台及其控制和数据采集系统,并对系统进行调试和误差分析,使测试结果真实可靠。以某型号RV减速器为试验对象,研究RV齿轮轴承孔公差等级对其传动精度和扭转刚度的影响。结果表明:测试台能够满足RV减速器主要性能测试需求,测试结果贴近实际;RV齿轮轴承孔与曲柄轴轴承接触充分的情况下,RV减速器传动稳定性和抗变形能力显著增强,RV3(M5)的传动精度比RV1(K5)提高了36%左右,扭转刚度比提高了约15%。

Static accuracy test bench and its control and data acquisition system were built based on the analysis of RV reducer main performance requirements.The system was debugged and the error was analyzed to insure that test result is reliable.A kind of RV reducer was taken as test object to study the influence of RV gear bearing bore tolerance level on transmission accuracy and torsional stiffness of RV reducer.Result shows that：the test bench can meet the main performance test requirements of RV reducer and test result is close to the reality.RV reducer transmission stability and resistance to deformation are enhanced significantly when RV gear bearing bore and the crank shaft bearing fully contacts.Transmission accuracy of RV3#（M5） increases about 36% than RV1#（K5）,while torsional stiffness is about 15% higher.