基于Adams的机器人用RV减速器动力学仿真研究

Research on dynamic simulation of RV reducer for robot based on Adams

在对RV-40E减速器进行实物测绘和金相分析的基础上,得到了建模所需要的结构参数和材料属性,进而采用Matlab结合理论计算,得到了Adams建模所需要的动力参数.对RV减速器中一级直齿轮、二级摆线轮的啮合刚度和啮合阻尼的求解步骤进行了详细说明.在Adams建模过程中,采用了一定的简化措施,减少了建模难度,如将曲柄轴和行星轮、太阳轮和输入轴以及行星架和柱销分别作为一个整体,同时简化了轴承和轴套等部件.最后对RV减速器Adams动力学模型进行了结果分析,得到模型传动比为105,与实际RV-40E减速器的传动比一致,说明模型建立正确.Adams模型的行星架实际输出值和理论值之间的误差在0.8′范围内,说明模型具有较高建模精度,也进一步说明建模中采用的各类参数是合理的,为RV减速器的进一步动力特性研究打下了基础.

Based on the physical mapping and metallographic analysis of RV-40 E reducer,the structural parameters and material properties which are needed for modeling are obtained.Then,the dynamic parameters required for Adams modeling are obtained by using Matlab calculation.The calculation steps of meshing stiffness and meshing damping of spur gear and cycloidal gear are described in detail.In the Adams modeling process,some simplified measures have been adopted to reduce the difficulty of modeling,such as consider the crank shaft and planetary gear as a whole,sun gear and input shaft as a whole,as well as planetary frame and pins as a whole,while simplifying the bearings and shaft sleeves and other components.Finally,the simulation results of the Adams dynamic model are analyzed,and the transmission ratio of the model is 105 which is consistent with the actual RV-40 E reducer.This shows that the Adams model is correct.And the error between actual output shaft value and theoretical value is under 0.8′,the results show that the Adams model has high modeling accuracy,and further shows that the various parameters used in the modeling are reasonable,which build a foundation for the further study of the dynamic characteristics of the RV reducer.