Teeth Profile Optimium Of FA Driver And FEM Analysis Of Cycloid Contact

FA cycloid drive is uptodate transmission device in the world today. It is of higher fatigue intensity, higher rigidity, longer longevity and higher slewing precision than syntony wave reducer which was often used in the robot before, thus this kind of drive will be more and more used in industry robots besides general driver with high carrying capacity.Because there are many teeth gearing during transmission,distribution of load between cyloid and teeth is most complex.Distribution is affected not only by contact distortion,but also by manufacture error and gearing clearance.In order to analyze force easily,we simplify the model of FA cyloid,taking no account of friction,supposing that there is the maximum of distortion in the largest arm of force,but in fact,friction must be exist and there is not always needle tooth in the largest arm of force.One the basis of above-mentioned assumption,the veracity of force analysis method should be verified farther.Based on research in contact, the caculation model of contact between cycloid disk and needle teeth has been built in virtue of internationally general non-linear finite element software-MS CM ARC in the paper, and the contact is simulated numerically on the first time. And we gain the state of contact between cycloid disk and needle teeth by MSC.MARC.The result has proved the force analysis method correct.There are always only combinations of three kinds of basic teeth profile modification - equidistant modification, radial-moving modification and slewing modification.This is most important problem to be solved in this paper how to respectively meet the demand of high carrying capacity or high drivinng precision by manufacturing cycloid with combination optimization of those basic modifican methods.As for FA cycloid driver used in general transmission without special demands,we can adopt the theory of optimization design to deduce themodification method ' plus equidistant + minus radial-moving '. As a result, the Inverse Arch-shaped Teeth profile is obtained in which forcing condition of driving is the best.The results of calculation about the various modification methods show that contacting force of the Inverse Arch-shaped Teeth profile is obviously better than the other modification method.Above optimization modification method doesn't meet the demand of FA cycloid driver used in high drivinng precision transmission,because it is difficault to get little Slewing error though we can make little more teeth clench in this way,and it is not only impossible to lessen excess clearance in circumstance caused by fitting clearance of other parts,but also possible to broaden new clearance.The reaserch achievement[2] is quoted in this paper,which discusses modification method of cycloid used in high drivinng precision transmission in detail.We can optimize modification of teeth profile to meeting anticipant slewing angle through 'plus equidistant + minus radial-moving'.Slewing error is one phenomena that output shaft lag behind input shaft when overturning, which will make turnning relations losted for short time during running and output interrupted suddenly, thus make turnning relations become non-linear.It is one most important performance target to be of high running and position precision for robot, which makes working components of robot arrive the expected location accurately. Such research is absolutely necessary because FA cycloid drive is offen applied in high precision transmission. Analysis of slewing errors angle is proceeded with measurement error of the drive chain and every effect of errors factor on slewing error is quantitatively analyzed in the paper. And the numeric moel of caculating slewing error angle is established.