Experiment And Simulation On The Integrated Performance Of RV Reducer

RV reducer which is widely used in the joint of industrial robot is investigated inthis dissertation. The experiment and simulation on the integrated performance aredeveloped based on the characters of RV reducer that has large ratio, compactstructure, high load/precision/stiffness/efficiency. The main contents are as follows:(1) The FEA model of certain type of RV reducer is established consideringbearing stiffness, meshing stiffness of gears, elasticity of components based on thestructural features of RV reducer on the platform of ANSYS. The variation oftorsional stiffness, which is generated in a period of rotation of the crank shaft, iscompared with the experiment in order to certify the validity and computationalaccuracy of the model. Furthermore, the effect of bearing stiffness and the matingtooth number between cycloid gear and pins is analyzed by applying this FEA model.(2) Design and build the testing system on stiffness of domestic and foreign RVreducers with the same type. Torsional stiffness and backlash error is measured andanalyzed during a period of rotation of the crank shaft. Experimental results indicatethat the torsional stiffness and backlash error are changed periodically along with thedifferent locations of the crank shaft. The experiment can not only verify the validityof the simulation model, but also proves that the testing system has high precision.The experimental results can provide experimental basis for researching thecharacteristics of torsional stiffness.(3) Design and build the testing system on error of RV reducer that produced indomestic and foreign with the same type. Rotational transmission error is measuredduring a period of rotation of the crank shaft. The experimental data systematicallyreflects the features of the rotational transmission error, and provides experimentalbasis for analysis and modeling of error on RV reducer.(4) Design and build the testing table on transmission efficiency of RV reducer.The transmission efficiency of domestic prototypes under various load conditions can be measured by applying the magnetic powder brake. Analysis on the trend ofefficiency can provide experimental guidance for improving the design of RV reducer.The research in this dissertation can be resourceful in finite element simulation,experiment on the integrated performance parameters such as torsional stiffness,backlash error, rotational transmission error and transmission efficiency.