The Research And Design Of Fa-type Pin-cycloid Transmission Prototype With High Precision

The cycloid-pin wheel planetary transmission has wide range of transmission ratio, compact structure, and high reliability and other significant characteristics, thus it is widely applied, and the newest developed transmission in the world now is the FA-type cycloid-pin wheel planetary reducer (short for FA pin-cycloid transmission). FA pin-cycloid transmission can effectively overcome the defect of traditional structure, so that it will be more and more widely used in industrial robots besides general driver with high carrying capacity.The turning error is rigidly required when the FA pin-cycloid transmission used in a precision controlling transmission system especially in the robot transmission, so that, the cycloid gear profile modification is also rigidly required. The teeth profile modification theory is the confidential core technology overseas, the previous studies of inverse arch-shaped teeth profile which is obtained by the modification of "minus radial-moving+ plus equidistant", although it can improve the bearing capacity and can lead to the best stress condition, it cannot satisfied the high precision of transmission.In this paper, based on high rotational accuracy requirement, the combining modification of "minus equidistant + plus radial-moving" which was put forward is analyzed and studied. Through analyzing several different modification methods, this combining modification methods can meet a predetermined rotation angle even zero. And the teeth profile is called "Arch Back Teeth profile". In this paper, considering the clearance between pin teeth and pin teeth shell, we have dynamic force analysis between pin wheel and cycloid gear, and we have worked out a procedure to optimize the tooth shape and analysis the force of "Arch Back Teeth profile", at last we have an example calculated.In addition, we put force analysis on the cycloid output body, it is found that due to dowel pin of the cantilever structure, its strength and rigidity are severely limited, therefore, we put forward the idea of using uniform loading ring institutions on the basis of previous experience. And we also analyze the force of the output body, and after the increase of uniform loading ring institutions increase the stiffness and strength of institutions by comparison, thereby enhancing the carrying capacity of the machine. And this paper builds the FEM model of the output body on the basis of ANSYS, and does analysis and calculation for them. As a result, we proved that the analysis method in this paper is correct.This paper gives the three dimensional shape with Pro/E and drawings with AutoCAD of high-precision cycloid, which are well preparation for the manufacture of the prototype.