Analysis Of Transmission Error In RV Drive

RV (Rotate Vector) transmission is a new two-stage enclosed cycloid planetary of drivewith small tooth number difference. It is developed from traditional cycloid planetarytransmission. In the past few years, RV transmission is used in industrial robots. There aremany more general advantages such as wide range of transmission, small size, small mass,high slewing precision, strong load-carrying capacity, stable precision, high efficiency andstable transmission. So it has attracted a wide spread attention, and developed rapidly.This paper is based on the supporting program NCET-07-0127of new century excellenttalents. On the basic of the existing theories to the accuracy of cycloid–pin planetarytransmission, this treatise mainly explores the transmission errors of RV drive. It analyzes themachine transmission errors. Because transmission error is a very important standard inmeasure driving precision and the operation stability for one reducer, so it is necessary for usto analyze the driving errors. At the same time, it can improve the performance of the reducerfurther through this study and the reducer has broad prospects in the future.Based on the institutional precision theory, this paper studies the sources of RVtransmission error. The mechanical model of dynamics is established by using theconcentrated mass method and the dynamic substructure method. According to differentcharacteristics of each component, the mathematical model of dynamic transmission accuracyis established of22degree-of-freedom based on the Newton’s second law. This model isresearched in comprehensive factors including displacement errors, elastic deformation, gearmeshing errors, time-varying mesh stiffess, mesh damping, bearing stiffness, torsionalstiffness of input shaft, and so on.This article uses the Runge-Kutta method to solve the multiple degrees of freedomnonlinear differential equations. Under the combined action of each error in RV transmissionsystem, it can be obtained the-varying curve of transmission error at arbitrary output time.The range of transmission error can be understanded intuitively. Then, the article researcheson the influences of individual error to RV transmission error, which is of central gear, planetwheel, crank shaft, cycloidal gear and planet carrier. In addition, this treatise analyzes theinfluential factors and obtains the law of influence. It can make preparation for next researchand provide reference for the actual processing of the RV reducer.