Dynamic Force Analysis Of Teeth Surface In FA Pin-Cycloid Drive And Three-dimension Contact Finite Element Checking Computations

The cycloid-pin wheel planetary drive reducer of FA new type is the newest developed transmission device at present. Compared with harmonic drive reducer which was often used in the robot before, it has a series of advantages such as higher fatigue intensity, higher rigidity, longer longevity and higher slewing precision. So this kind of drive will be more and more used in industry robots besides general driver with high carrying capacity.Based on the former research theories, this paper makes further study in the cycloid-pin wheel planetary drive of FA new type (for short FA pin-cycloid drive).In the aspect of the force analysis between cycloid disk and pin wheel, a kind of force analysis method of the mesh with initial clearance is put forward in allusion to the teeth profile of the equidistant and radial-moving combining modification, which is more accord with the actual engineering. Based on the different region of the actually foremost contact position of the cycloid disk and the pin teeth, this method dynamically considers the force condition during the whole transmission, respectively provides the dynamic force method in allusion to the different ways of the equidistant and radial-moving combining modification, and gains the dynamically variable disciplinarian of contact force by the optimization search during the whole transmission, which proves that this method has a higher precision and veracity comparing with the former force analysis method.In addition to the above force theory, this paper also makes up a dynamic force analysis software in order to conveniently calculate the dynamic force of the teeth surface of the cycloid disk which can provide the main parameters of certain machine type, the dynamic forced results and the dynamic forced curve.The strict torsion rigidity is required by the FA pin-cycloid drive used in a precision controlling transmission system, especially robot transmission, and the elasticity backlash aroused by the torsion elasticity deformation must usually satisfy definite precision in rated torsion so that it is very necessary to do the whole reducer's rigidity analysis. At the case of considering all kinds of elasticity factors able to influence rigidity,...