Development Of RV Reducer Comprehensive Performance Testing Platform

The RV reducer is an important part of the robot.The transmission accuracy of the robot joint directly affects the position accuracy and repeatability of the actuator.The domestic and foreign comparisons still show weaknesses in the field of research and manufacturing of RV reducers.With the rise of the domestic robotics field,research on RV reducers has achieved rapid development.However,there are few studies on the actual comprehensive performance testing of RV reducers.Therefore,this paper designs a comprehensive testing platform for RV reducer,which can efficiently and accurately measure the transmission ratio,instantaneous transmission ratio,transmission error,hysteresis and efficiency of RV reducer.The main research content is as follows:For the RV reducer drive accuracy performance parameters,combined with the RV reducer structure,transmission principles,analysis of the original error affecting the transmission accuracy.According to the performance parameters and project requirements,a test platform scheme with compact structure,large transmission stiffness and high precision is proposed;the key components in the platform are analyzed and optimized,and the strength check of the components is performed using ANSYS Workbench.The original error of the mechanical part of the measurement platform and its influence on the measurement result are analyzed,and a solution is proposed.According to the overall design,design and selection of drive components,load components,and measurement components,including selection calculation of servo motors and magnetic powder brakes,selection of controllers,and selection and calculation of the accuracy of the circular grating system,etc.,give the overall measurement and control system scheme;C++ and MATLAB mixed programming technology designed a set of software to control the platform and record and analyze experimental data,including test flow charts,data processing methods.Using a test platform to test a cycloid reducer,a mathematical model of the transmission error of the RV reducer based on the action line increment method was established.The theoretical error data are calculated by MATLAB and compared with the experimental data.The fast Fourier transform is used to analyze the frequency domain characteristics of the error.it is proved that the test data of the test platform is accurate and reliable.