Modeling And Optimization Of Transmission Error Of RV Reducer

In order to improve the transmission accuracy of RV(Rotate Vector)reducer,and to reduce the research cost,the clearances and errors produced during manufacture and installation are fully considered to realize the rational allocation of tolerances and reduce their influence on transmission errors.Based on the traditional equivalent model,an optimization method for the model is proposed in this paper.In this paper,the RV20E RV reducer with double crankshaft and double cycloidal wheel is selected as the research object.The main purpose is to establish an effective analytical model of the rotary transmission error.According to the physical structure of RV reducer transmission,the lumped mass method and dynamic substructure method are used.In the process of research,the elements of components in the device are regarded as rigid bodies,and the contact gap between components is replaced by springs.The equivalent error model with 17 degrees of freedom is established.The machining errors,the gaps,the installation errors,and the small displacements caused by the positional deviation of each element with respect to the theoretical analysis of the RV mechanism are replaced by the equivalent error in the spring direction between the elements.Applying their equivalent errors,the equations of forces acting on each element are derived.Firstly,the traditional empirical parameters are introduced into the equation,and the simulated transmission error of the RV reducer is obtained by calculation.Secondly,the difference between the simulated transmission error obtained by the model and the measured actual transmission error is taken as the optimization target,and the parameters of the optimization objective are identified by the least square method.In order to optimize the parameters of the model,the particle swarm optimization algorithm and the genetic algorithm are improved respectively.Finally,the improved particle swarm optimization algorithm with better optimization effect is selected to identify and optimize the parameters of the model.Applying the method of modeling and optimizing parameters to the modeling and analysis of the actual product:ion RV reducer.The results show that after the empirical parameters are optimized by the method proposed in this paper,the difference between the simulated and actual values of the transmission error obtained by the equivalent model is reduced by 9.99%on average,which shows that the method can improve the accuracy of the model.In order to better guide the production,processing and assembly process of RV reducer,based on the optimized equivalent model,this paper carries out the correlation analysis of the sensitivity of each individual error factor to the transmission error of RV reducer,and obtains several error factors with higher sensitivity,which should be paid attention to in the future manufacturing process to ensure the transmission accuracy.