Analysis On The Dynamic Characteristic Of RV Reducer

RV reducer is a secondary deceleration device developed based on the general cycloid reducer, which has been widely used in industrial robots and other sophisticated transmission areas recently. With the rapid development of modern machinery industry, the performance requirements of RV reducer are also increasing in actual project including high speed, high efficiency and smooth movement. Therefore it is important to analysis the dynamic characteristics and experimental study. In this paper, using the finite element software and virtual prototyping technology, the dynamic characteristics of RV reducer is studied by theoretical transmission characteristics analysis, finite element modal analysis of the whole machine, dynamic simulation analysis and experimental test. The main tasks have been done as follows:Based on working principle and characteristics of the RV reducer, the drive process of the RV reducer is analyzed, force of the key components is researched, theoretical speed and meshing frequency of the each transmission part are calculated, meshing forces between cycloid gear and needle teeth are calculated.Combined SolidWorks with ANSYS Workbench software, three-dimensional solid model of each component of specific RV reducer is established and the virtual assembly and finite element modal analysis of the whole reducer are completed. Then the natural frequency and its corresponding vibration mode to be obtained and the modes of each step and the deformation of key parts are analyzed.Using Adams software, the virtual prototype model of RV reducer is built, and its dynamics simulation is done. The changing law with time of angular velocity and angular acceleration of each drive part is studied as well as the meshing forces which produced by the contact between cycloid gear and needle teeth, and the impact of reducer vibration by load is analyzed.Through comprehensive experimental platform, the vibration characteristics of the RV reducer have been tested, the acceleration response with time curve of RV reducer under different conditions are obtained, and its corresponding frequency domain has been gained by Fast Fourier Transform.The dynamic characteristics study is completed by theory, modal, simulation and experimental analysis of RV reducer. The results of Finite element modal analysis show that the resonance phenomenon does not occur in normal conditions of RV reducer and its dynamic performance is good. Dynamic simulation results show that the angular velocity, angular acceleration of the key parts with the meshing forces between cycloid gear and needle teeth present a periodic sinusoidal variation in the stable transmission stage, and the results are consistent with theoretical analysis, so the reasonable reliability of RV virtual prototype is proved. Finally the acceleration response time domain and frequency domain graph of reducer by vibration test experiment indicate that the load can inhibit the vibration of reducer in some extent, and the peak on frequency domain charts corresponds to theoretical meshing frequency, so the experimental results verify the correctness of the simulation and theoretical analysis.