摘要
RV减速器是机器人的核心部件,其传动精度对机器人性能起着重要作用.为提高其传动精度,建立了RV减速器的传动误差的等效模型,并利用刚度经验公式对模型的参数进行求解,得到减速器的理论传动误差.在动力学模型的基础上,采用改进遗传算法对模型中的经验公式参数进行了优化.将优化得到的误差模型与通过经验公式计算出的误差模型进行对比,结果显示优化后的误差比计算误差降低了10.09%,有效地提高了RV减速器的设计精度.
As the core component of a robot,the RV reducer and its transmission accuracy play an important role in the robot performance.For the purpose of improving the transmission accuracy,the equivalent model of transmission error of RV reducer is established.Parameters of the model are solved by stiffness empirical formula,and the theoretical transmission error of the reducer is obtained.An improved genetic algorithm based on dynamic model is used to optimize these parameters of empirical formula in the model.Then,the optimized error model is compared with the error model calculated by the empirical formula.Results show that the optimized error is reduced by an average of 10.09%compared with the calculated error,effectively improving the design accuracy of the RV reducer.
作者
曹楷
邵桂芳
刘暾东
CAO Kai;SHAO Guifang;LIU Tundong(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China;Xiamen Key Laboratory of Big Data Intelligent Analysis and Decision-making,Xiamen 361102,China)
出处
《厦门大学学报（自然科学版）》
CAS
CSCD
北大核心
2022年第2期246-252,共7页
Journal of Xiamen University：Natural Science
基金
福建省高校产学合作项目(2018H6018)
厦门市科技计划项目(3502Z20183004)。
关键词
RV减速器
等效误差模型
传动误差
改进遗传算法
RV reducer
equivalent error model
transmission error
improved genetic algorithm
