RV减速器非线性动态传动精度

Nonlinear Dynamic Transmission Accuracy of RV Reducer

以RV-80E减速器为研究对象,综合考虑系统中各零件的制造误差、装配误差、间隙及微位移等相关因素对传动精度的影响,用质量弹簧“等价模型”的方法建立RV(rotate vector)减速器动态传动精度的动力学模型,对RV传动精度模型进行仿真,分析了单项误差因素及系统误差对RV传动精度的影响。结果表明,针轮半径方向齿槽偏差所引起的位移对RV传动机构影响较大;当两摆线轮相互间相位差为120°时,对系统的传动误差影响较小;单项耦合对系统传动误差最大值为42.52″。最后,以RV-80E减速器为例,进行实验,对测试的数据进行了分析,结果表示仿真与实测结果较吻合。研究对RV减速器的设计和制造具有一定的理论意义和实用价值。

RV-80E was selected as the research object,to which the influence of manufacturing error,assembly error,clearance,and micro-displacement of various parts on the transmission precision were considered.The dynamic model of dynamic transmission accuracy of RV(rotate vector)reducer was established by the method of mass spring“equivalent model”,and the RV transmission accuracy model was simulated.The influence of single error factor and system error on RV transmission accuracy was analyzed.The results show that the displacement caused by the deviation of the cog in the radial direction of the needle wheel had a great influence on the RV transmission mechanism.When the phase difference between the two cycloidal wheels was 120°,the influence on the transmission error of the system was small.The transmission error of single-coupled system had a maximum value of 42.52″.Finally,taking the RV-80E reducer as an example,an experiment was carried out and the test data were analyzed.The results show that the simulation is in good agreement with the measured results.Therefore,this study shall have a theoretical and practical value for the design and manufacturing high precision of RV reducer.