机器人减速器传动粗糙表面接触参数研究

Research on Contact Parameters of Rough Surface in Robot Reducer Transmission

针对机器人减速器传动界面广泛存在的粗糙表面接触特性开展相关研究。以GW接触模型为基础,考虑粗糙峰接触过程中相互作用的影响,对它进行修正得到新的模型。采用修正模型计算粗糙表面接触载荷并推导出接触刚度,然后与原始GW接触模型的计算结果进行对比。在进一步的研究中,讨论了不同表面粗糙度与不同接触表面材料对接触载荷与接触刚度的影响。结果表明:粗糙表面接触参数不仅受粗糙峰相互作用的影响,还与粗糙度与接触表面材料有密切的联系。

In view of the widespread rough surface contact of robot reducer,the relevant research was carried out.On the basis of GW contact model,considering the effects of interaction during rough peak contact,a new model was obtained by modifying it.The modified model was adopted to calculate the contact load and contact stiffness of the rough surface,and then the results were compared with those of the original GW contact model.In the further study,the effects of surface roughness and contact surface materials on contact load and contact stiffness were discussed.The result shows that the contact parameters of the rough surface are not only affected by the interaction of the rough peaks,but also have a close relationship with the roughness and the contact surface material.