Research On Transmission Precision Of RV Reducer For Industrlial Robot

RV(Rotate Vector)reducer is a kind of high precision reduction device,it's widely used as instruial robot joint driving devices for its characteristics of high torsional rigidity,high carrying capacity,high speed ratio,small return error,small size and other advantages.With the industrial robot has higher and higher performance requirements on the positioning accuracy and backlash,it also has higher demand on the RV reducer transmission precision.In this paper,a method of improving the transmission accuracy of the RV reducer is proposed based on the analysis of methods of modifiing the cycloidal gear teeth of the RV reducer,the research on the factors affecting to backlash and the study of the assembly process.The specific research work is as follows:(1)The design theory of cycloidal gear tooth profile design is studied,and the effects of different moduli and different tectonic amount on the maximum engagement force,maximum deformation and meshing tooth number of cycloidal and needle meshing are analyzed.(2)The structure and driving characteristics of the RV reducer are studied,and the main error factors and the system hysteresis are analyzed.At the same time,the influence of different modification methods on the hysteresis of the cycloidal gear tooth profile is analyzed.The influence of the error factors on the hysteresis is obtained by analyzing the sensitivity and weight analysis of the hysteresis of the RV reducer,Hysteresis has a greater impact on the main error factors.(3)In consideration of the difficulty of machining parts and the precision of machining,and the analysis of the sensitivity and weight of the error factors on the backlash,a method of selecting the assembling method for improving the assembly accuracy of the RV reducer is proposed.A mathematical model of the matching method is established And the algorithm of RV reducer selection and assembly is designed based on genetic algorithm.The matching problem of RV reducer is realized by matlab programming.(4)The key technology and detection methods of the key parts of RV reducer are studied.The working principle,structure and detection system of RV reducer performance detection platform are studied.The backlash of RV reducer is tested based on the performance of RV reducer detection platform for self-made RV-20E-105 reducer prototype.