基于承载能力和传动效率优化的机器人RV减速器摆线轮齿廓修形影响研究

Research on influence of cycloidal gear profile modification of robot RV reducer based on load carrying capacity and transmission efficiency optimization

针对RV减速器常规结构设计过程中未考虑摆线轮齿廓修形影响的现状,为实现RV减速器精确的动力学结构设计,提出一种基于承载能力和传动效率优化的RV减速器摆线轮齿廓“负移距–正等距”或“正移距–负等距”组合修形方法。将承载能力最大和传动效率最高作为优化目标,选取对其影响较大的关键参数作为设计变量,考虑齿廓修形影响,对RV减速器开展多目标优化研究。采用NSGA-Ⅱ算法进行求解,并基于TOPSIS和CRITIC相结合的多目标决策方法确定Pareto解集中的最优参数方案。研究结果表明:相比于原始设计,采用“负移距–正等距”或“正移距–负等距”修形对啮合力的影响相对于“负移距–负等距”和“正移距–正等距”较为平缓,齿廓修形设计更为容易。优化后整机传动效率提高了0.96%,最大啮合力减小了35.98%,啮合齿数增加,传动更为平稳,显著改善了RV减速器的动态性能。

In view of the current situation that the influence of cycloidal gear tooth profile modification is not considered in the conventional structure design of RV reducer,in order to realize the accurate dynamic structure design of RV reducer,a combined modification method of“negative movement distance-positive equidistance”or“positive movement distance-negative equidistance”of cycloidal gear profile of RV reducer is proposed based on the optimization of load carrying capacity and transmission efficiency.With the maximum load carrying capacity and maximum transmission efficiency as the optimization objectives,the key parameters which have a great influence on them are selected as the design variables,and the influence of tooth profile modification is considered to carry out the multi-objective optimization research on RV reducer.NSGA-Ⅱalgorithm is used to solve the problem,and the optimal parameter scheme of Pareto solution set is determined based on a multi-objective decision method combining TOPSIS and CRITIC.The results show that,compared with the original design,the influence of“negative movement distance-positive equidistance”or“positive movement distance-negative equidistance”modification on the meshing force is smoother than that“negative movement distance-negative equidistance”and“positive movement distance-positive equidistance”modification,and the tooth profile modification design is easier.After optimization,the transmission efficiency of cycloidal pin wheel is increased by 0.96%,the maximum engagement force is reduced by 35.98%,the transmission of the whole machine is more stable,and the dynamic performance of RV reducer is significantly improved.