Dynamic Characteristic Analysis Of RV Reducer

RV reducer is one of the three core components of the industrial robot,it was gradually developed from cycloid planetary transmission.It is constituted by K-H type planetary transmission and K-H-V type planetary transmission compound and into a new type of planetary transmission mechanism.It has a series of advantages,such as high transmission ratio,small volume,high transmission efficiency,large torsional rigidity etc,so has been widely used in industrial robot joints.Along with the continuously improve the performance of industrial robot,the dynamic properties of the joints reducer is put forward higher request.So the research around the RV reducer dynamics become a hot spot.This paper mainly research on its dynamic characteristics,the main content as follows:The coupling dynamic model of RV reducer is established by lumped parameter method.Besides consider the bearing stiffness,gear mesh stiffness and other factors,the dynamics model also considered the influence of pin gear ring stiffness on RV Reducer.According to the model,using the Newton's second law and the moment of momentum theorem,deduced the dynamics equation of the system,so that laid the foundation for the following analysis of the modal influence factors and response.Determining the calculation method of the parameters in the dynamic model of RV reducer,according to the calculated parameters,the natural frequency and two vibration modes of the RV reducer is acquired;center component torsional vibration mode and center components translation mode.Analyses the influence factors of natural frequency,and analyzed the change in stiffness inherent frequency curve mode in the process of intersection and modal transition phenomenon,the modal intersection and the location of the mode transition,Can effectively avoid violent vibration for the selection of structure parameters of the RV reducer provide certain reference.Using numerical method to solve the RV reducer in the input/output torque under the action of the response,has been in the input/output torque under the action of the response curve of members of the system,found the planet wheel and the vibration of the crankshaft is relatively severe,cycloid gear and the sun wheel amplitude is larger in the reverse direction.Otherwise,Analysis of the influence of some parameters on the response amplitude,found the planet wheel amplitude is more sensitive to changesThe RV reducer is established with pro/e software 3D model,the model into finite element analysis software SAMCEF,solving the modal characteristics of the RV reducer,and compare with the theoretical analysis results,verify each other.