Study On Transmission Performance Of RV Rducer

As one of the most widely used reducers in industrial robot joints,the transmission performance of RV reducer largely affects the performance indices of industrial robots.Therefore,carrying out relevant research and revealing general rules not only have important guiding roles in manufacture and processing of RV reducer,but also have great practical value for industrial production.This paper deeply studies the transmission performance of RV reducer,including the theoretical study on the relationship between meshing force & torsional stiffness and basic tooth profile parameters,the establishment of virtual prototype models,statics & dynamics & kinematics simulation analysis,the construction of torsion test platform as well as experimental verification.The main contents of the paper are as follows:On the basis of fundamental structure and operational principle,the speed ratio and transmission characteristics of RV reducer are studied.According to the forming principle of cycloid gear,the continuous meshing condition of cycloid-pin wheel,the equation of cycloidal tooth profile and the equation of curvature radius are derived.What’s more,the constraint conditions of basic tooth profile parameters are analyzed.By using cyclic iterative method,the meshing force between cycloid gear and pin wheel is calculated.Based on Hertz contact theory,the torsional stiffness model of RV reducer is established.Taking advantages of MATLAB,the influence of the variation of basic tooth profile parameters on meshing force and torsional stiffness of RV-80 E reducer is analyzed.Furthermore,the allowable ranges of basic tooth profile parameters are clarified.With the comprehensive application of SolidWorks three-dimensional modeling,ADAMS kinematics & dynamics simulation and ANSYS statics analysis,the correctness of virtual prototype model of RV-80 E reducer is verified.In addition,the rules between the variation of basic tooth profile parameters and the variation of meshing force & torsional stiffness are obtained.Through torsion test platform,the torsional stiffness of RV-80 E reducers with different basic tooth profile parameters are measured.Comparing the experimental results with ANSYS finite element simulation results,the correctness of change regulation is proved,which provides technical support for performance optimization of RV reducer.