RV减速器综合参数测量方法研究

Research of Comprehensive Parameter Measure Method of RV Reducer

RV减速器是工业机器人的重要组成部分,其综合性能情况很大程度上关系着机器人姿态控制的精密程度。通过对RV减速器的测量原理进行分析,研究了RV减速器各项综合性能参数的测量方法,并设计了测量流程以及每一项参数数据的处理方法,实现了不同型号RV减速器各项综合性能参数的自动化测量,可靠地配合了测量仪机械结构和硬件系统,避免了复杂的人工测量。完成传动误差、回差、扭转刚度、静摩擦力矩和动摩擦力矩5个项目的误差测量。检测结果证明了测量方法的实用性和有效性,为改进RV减速器的生产和加工工艺提供了有效手段。

RV reducer is a key part of industry robot,its comprehensive performance is closely related to the positioning accuracy of robot. By analyzing the principle of RV reducer measurement,the measurement method of comprehensive parameters of RV reducer is studied,and the measurement and data processing method of each parameters are designed,which can accomplish automated measurement of comprehensive parameters in different RV reducer model. The mechanical structure and hardware system of the measuring instrument are cooperated reliably,and the complicated manual measurement is avoided. Through the error measurement of five items（ Include transmission error,rotation error,torsional stiffness,static friction torque and dynamic friction torque）,proved the practicability and validity of the measurement method,that provide an effective means for the RV reducer production and processing technology.