Theoretical Analysis On Dynamic Characteristic Of RV Reducer

RV used in robot is a new drive developed from cycloid, it has a serial of advantages, such as small volume, light weight, a wide range of transmission ratio, long life, high kinematic accuracy, high transmission efficiency and steadily transmission etc, so it is paid attention to at home and abroad. Along with increasing request of high speed, heavy load, light weight and revolution steady, reduced the fatigue failure and drumming noise already becomes an important factor in the machine design, therefore dynamics characteristic already became an indispensable important part in the machine design. Because RV reducer was still at the research stage, its theoretical basis of design and manufacture is not mature, therefore it is necessary to conducts systematic theoretical research and the experiment to its dynamics characteristic.The thesis is based on college doctor disciplines' special scientific research foundation subsidization topic, the supporting plan of college outstanding talent person of liaoning province, the supporting plan of new century outstanding talent person. On the basic of the present theory to the cycloid -pin planet drive, this dissertation mainly explores the dynamics of RV drive.Using the lumped parameter method to establishing the elasticity dynamics model, according to different characteristics of each component in two-stage drive of involute gear and cycloid gear, In consideration tumbler bearing's rigidity as well as angle's periodic variation of crank axle and cycloidal gear's rotation circumferential to system influence premise, based on the Newton's law and the generalized coordinates law, established clastic dynamic equations of 25 degree-of-freedom, and solved the system natural frequency and various steps mode of vibration.The solid models of RV reducer was built with the software pro/e, and inducts them to finite element analysis software ansys, for the higher dynamical capability, the natural frequency and model of cycloid gear and involute gear were worked out when it was in free situation, and its frequency distribution rule's analysis were carried on.The thesis establishes crank and input shaft's continuous system dynamics model in cycloidal gearing transmission, describes its movement with the partial differential equation, unifies its boundary condition to obtain the components natural frequency exact solution, analysize and understand the distributed rule.