摘要
为了保证机器人用高精度RV减速器的运动精度、扭转刚度、传动效率、总体回差和承载能力等要求,分析了摆线轮各齿的接触变形关系,计算了摆线轮齿与针齿的啮合力,进而获得了摆线轮与针轮的同时啮合齿数.采用UG软件建立了RV-40E型减速器模型,并进行ADAMS动力学仿真,探求了含有初始间隙的RV减速器传动时的啮合齿数,为提高减速器整体的传动稳定性、承载能力、扭转刚度等性能提供了理论基础.
There are clearances between cycloid gear and pins in robotic high precision RV reducer.To ensure the output accuracy,torsional stiffness,transmission efficiency,overall hysteresis,carrying capacity and other requirements,the meshing teeth between cycloid gear and pins should be as many as possible if lubricating condition is satisfied.Hence,the deformation relationship among cycloid teeth is analyzed,and the number of meshing teeth is calculated based on the meshing force between the cycloid tooth and the pin.The UG software is adopted to model RV-40 E reducer and the ADAMS software to perform dynamics analysis.The number of meshing teeth with initial clearances is studied based on virtual prototyping simulation.A theoretical foundation for the improvement of the overall stability,carrying capacity,torsional stiffness and other performances of the RV reducer is provided.
出处
《中国工程机械学报》
北大核心
2015年第6期509-514,共6页
Chinese Journal of Construction Machinery
基金
国家自然科学基金资助项目(51475331)
"十二五"国家科技支撑计划项目(2012BAF12B01)
上海市科委资助项目(13111101704)
