The hypocycloid RV reducer is a new type of rotor vector(RV) reducer based on the principle of internal cycloidal planetary transmission. The reducer has a compact and hollow structure. First of all, the component com...The hypocycloid RV reducer is a new type of rotor vector(RV) reducer based on the principle of internal cycloidal planetary transmission. The reducer has a compact and hollow structure. First of all, the component composition, special structure and transmission principle are analyzed. Then, the three-dimension dynamic model for the hypocycloid RV reducer was simulated. Through reasonable assumptions, the dynamic environment was defined, the dynamic model was simplified, and the kinetic equations were listed. The torsional stiffness of the shaft component is calculated, and the meshing rigidity of the cycloidal gear and the needle tooth is calculated. Finally, by using MATLAB software to solve the dynamic equations, combined with the actual parameters of the hypocycloid RV reducer, through the solving equation to obtain the natural frequency of the system, which laid the foundation for the design and research of the following hypocycloid RV reducer.展开更多
This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timed...This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timedomain TPA method is proposed to trace the source along with the time variation.Secondly,the TPA method positioned themain source of robotic vibration under typically different working conditions.Thirdly,independent vibration testing of the Rotate Vector(RV)reducer is conducted under different loads and speeds,which are key components of an industrial robot.The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer.Finally,the structural problems of the RV reducer were summarized.The vibration performance of industrial robots was improved through the RV reducer optimization.From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer,the source of defect information is traced accurately.Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.展开更多
基金supported by the Shenzhen Basic Research Project(JCYJ20150925163026555)
文摘The hypocycloid RV reducer is a new type of rotor vector(RV) reducer based on the principle of internal cycloidal planetary transmission. The reducer has a compact and hollow structure. First of all, the component composition, special structure and transmission principle are analyzed. Then, the three-dimension dynamic model for the hypocycloid RV reducer was simulated. Through reasonable assumptions, the dynamic environment was defined, the dynamic model was simplified, and the kinetic equations were listed. The torsional stiffness of the shaft component is calculated, and the meshing rigidity of the cycloidal gear and the needle tooth is calculated. Finally, by using MATLAB software to solve the dynamic equations, combined with the actual parameters of the hypocycloid RV reducer, through the solving equation to obtain the natural frequency of the system, which laid the foundation for the design and research of the following hypocycloid RV reducer.
基金supported by Natural Science Foundation of Hunan Province,(Grant No.2022JJ30147)the National Natural Science Foundation of China (Grant No.51805155)the Foundation for Innovative Research Groups of National Natural Science Foundation of China (Grant No.51621004).
文摘This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timedomain TPA method is proposed to trace the source along with the time variation.Secondly,the TPA method positioned themain source of robotic vibration under typically different working conditions.Thirdly,independent vibration testing of the Rotate Vector(RV)reducer is conducted under different loads and speeds,which are key components of an industrial robot.The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer.Finally,the structural problems of the RV reducer were summarized.The vibration performance of industrial robots was improved through the RV reducer optimization.From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer,the source of defect information is traced accurately.Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.
