Desgin And Study Of Comprehensive Performance Test Gig Of RV Reducer

The RV(Rotate Vector)reducer is a precision reducer widely used in industrial robots.It is a secondary reducer consisting of a planetary gear reducer of the preceding stage and a cycloid reducer of the rear stage.It has a lot advantages,such as compact structure,small size,light weight,large transmission ratio range,long service life,stable accuracy,high efficiency,and smooth transmission.RV reducer is widely used in robots,machine tools,medical testing and space equipment.The research on the performance of RV reducer at home and abroad mostly adopts theoretical analysis or simulation methods.The study on performance testing of RV reducer is obviously inadequate,and most of the testing equipment can only realize the testing of a single performance.Therefore,it is necessary and meaningful to design a test rig for the comprehensive performance of RV reducer.This paper presents a new program of comprehensive RV reducer test and build a test rig,for the checking requirements of parameters such as transmission efficiency,transmission error,hysteresis curve,torsional stiffness,and backlash of RV reducer.Firstly,the structure and transmission principle of RV reducer are introduced.The test principles for the main parameters such as transmission efficiency,transmission error,hysteresis,torsional stiffness and backlash are proposed,which provide theoretical basis and direction for the design of testing rig.A comparative analysis of the current existing RV reducer comprehensive performance testing program is conducted,and present a new integrated test program where the test of torsional stiffness and hysteresis can be achieved compared to the origin program.The design of the testing rig is proposed based on the program,including the working principle and the composition of the testing rig.The key technologies of design were analyzed.The mechanical structure of the testing rig was designed,including test rig bench,output shaft and so on.In order to verify the rationality of the design of the test rig bench and the output shaft of the reducer,the finite element analysis was performed.According to the overall design requirements,the hardware system of the testing rig was designed.Select the servo motor,torque and speed sensor,high-precision angel encoder,motion control card,data acquisition card to build the hardware platform of testing rig.Use graphical software LabView to write software systems.