Research Of RV Reducer Stiffness Simulation And Dynamic And Static Performance Testing Platform

Because of its excellent performance,RV reducer has been widely applied in the aerospace field of industrial robots.With the large-scale application of industrial robots,the domestic demand for RV reducers is increasing rapidly,and the development of high-precision reducers is also actively carried out.However,there is little research on the performance test of RV reducer in China,and there is no high precision test equipment.The research and design of high precision dynamic and static performance test bench for RV reducer is of great significance to the development of high precision reducer.Therefore,this paper takes the virtual prototype model of RV reducer and the dynamic and static test bench of RV reducer as the research objects,and studies the stiffness simulation of the virtual prototype model of RV reducer,the complete structure design of the static test bench and the dynamic test bench,and the test related operation.Based on the analysis of the transmission principle and structural characteristics of RV reducer,a three-dimensional virtual prototype model of RV reducer is established.On this basis,the factors affecting the stiffness of the elastic contact links of the RV reducer are analyzed and studied,and the stiffness of the whole RV reducer is simulated by finite element method.The static performance test of RV reducer is mainly the test of stiffness and backlash.Aiming at the requirement of the static performance test bench of RV reducer and automatic continuous loading function,a static performance test bench of RV reducer with automatic continuous loading function is designed.A bi-directional electric drive automatic continuous loading device with elastic links is proposed,which greatly improves the efficiency of static performance testing of the reducer.The double torsion spring structure is skillfully applied to the elastic links of the automatic continuous loading device,and the rigidity of the elastic links is unchanged when the two-way loading is realized.The static performance test bench can achieve automatic continuous testing of stiffness and backlash.The dynamic performance test of RV reducer is mainly the test of transmission error and transmission efficiency.According to the performance testing index and design requirements,a compact structure and high measurement accuracy detectionplatform scheme is proposed.According to the overall design scheme,the driving elements,measuring elements and load elements are selected and analyzed.The speed-increasing mechanism is added to the load module of the dynamic performance test-bed,which reduces the overall size of the load module and improves the stability and reliability of the load module.The dynamic performance test bench can detect the transmission efficiency and transmission error of the RV reducer by using the corresponding test scheme.