工业机器人用RV减速器随转速变化的频率特性

Frequency characteristics of RV reducer for industrial robot with the change of rotating speed

通过机器人减速器综合测试系统及振动测试系统,采集RV减速器随转速变化的振动信号,利用MATLAB进行傅里叶变换得到频谱图,对比分析不同输入转速下的频谱图,总结随转速变化的振动特性。研究发现了RV减速器在不同转速下的主要峰值及幅值变化情况,得到在RV减速器进入疲劳失效以前,影响机器人精度的抖动因素主要来源于结构固有频率以及特征频率与固有频率发生的共振的结论。

Through the robot reducer comprehensive test system and vibration test system,the vibration signals of RV reducer varying with rotation speed are collected.Fourier transform is carried out by MATLAB to obtain frequency spectrum diagrams.The frequency spectrum diagrams at different input rotational speeds are compared and analyzed to summarize the vibration characteristics varying with rotational speed.The main peak and amplitude changes of RV reducer at different rotational speeds were found.Before RV reducer goes into fatigue failure,the shake affecting robot precision mainly comes from the structural natural frequency and the resonance between the characteristic frequency and the natural frequency.