Research On Dynamic Transmission Error Of RV Reducer Based On Virtual Prototype Technology

With the gradual implementation of China's 2025 plan to manufacture industry,more and more enterprises adopt the strategy of "machine substitution" transformation and upgrading,so a lot of manual labor has been replaced by industrial robots.As a core component of the joint parts of industrial robots,research on RV reducers is receiving more and more attention.Since the domestic RV reducer market is monopolized by companies such as Japan and Europe,Domestic industrial robot companies have been limited in the supply price and supply quantity of RV reducers,which leads to the insufficient production capacity of enterprises and seriously affects the process of industrialization in China.In this paper,the dynamic transmission error of RV reducer is studied.The RV-40 E type reducer parameters are used in simulation and experiment.The dynamic drive error multi-body dynamics rigid-flexible coupling simulation model of RV reducer is established by orthogonal test method and virtual prototype technology.The effects of load,part elastic deformation,part manufacturing error and part matching clearance on the dynamic transmission error of RV reducer are studied.The dynamic transmission error test platform of RV reducer is built to verify the reliability of the virtual prototype research method.BP neural network was optimized by genetic algorithm,and BP network prediction model of dynamic transmission error of RV reducer was established based on part error.Firstly,the structural composition and transmission principle of the RV-40 E reducer are elaborated.The calculation method of the transmission ratio of the RV-40 E six installation methods is given,and the factors affecting the transmission error of rv-40 e reducer and its sensitivity are deeply analyzed.Secondly,the RV reducer virtual prototype model is built by CREO and ANSYS technology,and the ADAMS system is introduced into the rigid-flexible multi-body dynamics simulation.The four types of factors such as working load,elastic deformation of parts,manufacturing error of parts and assembly gap are analyzed to reduce RV.The influence of the dynamic transmission error and the establishment of the experimental bench for testing,verify the accuracy and reliability of the dynamic prototype error research method.Then,in order to obtain the causal data between some more representative four categories of 15 factors and dynamic transmission error,the simulation experiment scheme of single index 15 factor orthogonal table is used to obtain 36 sets of simulation experimental data,and the variance analysis is performed.The credibility reveals the sensitivity ranking and influence trend of various factors on dynamic transmission error.Finally,the improved BP network establishment algorithm is applied.Based on the virtual prototype simulation results,the dynamic drive error prediction BP model of the RV-40 E reducer assembly is established to improve the assembly accuracy of the RV-40 E reducer.