旋转向量减速器纯扭转模型固有频率和灵敏度分析

Natural frequencies and sensitivity analysis of pure torsional dynamic model of rotate vector reducer

为得到影响旋转向量减速器的固有特性和动态性能的关键因素,建立了减速器的纯扭转动力学模型,求解了系统在无阻尼条件下的固有频率和模态振型,并对半正定系统进行了坐标变换和无量纲化,得到了转换后系统的固有频率和各部件的动态响应曲线,以及在输入转速为10r/min、输出负载为30N·m工况下的系统传动误差曲线和对应频谱图。研究了固有频率相对于多种系统参数的灵敏度,得到转动惯量参数比刚度参数对系统固有频率影响更显著的结论。最后,搭建了减速器动力性能综合检测实验平台,实测了系统传动误差和对应频谱图,理论和试验的结合为旋转向量减速器研究和发展提供了一定的理论基础。

A pure torsional dynamic model was established for the study of inherent characteristics and dynamic performance of rotate vector reducer system.The natural frequencies and mode shapes of the model were obtained under no damping condition.The coordinate transformation method was used to eliminate the rigid body freedom of the system and the dimensionless method was used to get the same magnitude of parameters.After calculation,the natural frequencies and dynamic performance curves of the transformed system were obtained.In particular,under the condition of input angular velocity10r/min and output load 30N·m,the system transmission error curve and corresponding spectrum were obtained.Then,the sensitivity of the natural frequencies to system parameters was studied.Results show that the influence of inertia parameters on the natural frequencies are more significant than that of stiffness parameters.Finally,a test platform of RV reducer dynamic performance was built,and the real-time transmission error curve and corresponding spectrogram of a RV-40 E were obtained.The combination of theoretical and experimental results provides a theoretical basis for the research and development of RV reducers.