| The new type FT pin-cycloid transmission reducer has the characteristics of high accuracy,high transmission efficiency and large load-carrying capacity.It can play a significant role in places with high transmission accuracy requirements,such as industrial robots and aerospace fields.So it has good application prospects.Transmission accuracy is one of the important indexes for evaluating the performance of pin-cycloid transmission reducer.The research on the static transmission accuracy of the FT type transmission has reached a certain height.And the dynamic transmission accuracy has not been systematically studied.Therefore,it is of great significance to study the dynamic transmission accuracy of FT transmission.In this paper,the FT455-81 prototype will be used as the carrier.The dynamic transmission accuracy of the FT transmission will be studied through the combination of theoretical analysis and modeling,characteristic analysis and software simulation,and experimental testing.By synthetieally comparing the existing research methods of transmission accuracy of pin-cycloid transmission,this paper adopts multi-body dynamics method to study the dynamic transmission accuracy of FT transmission.Combining with the structure of FT pin-cycloid transmission,the system dynamic model is established by lumped mass method.Then,the system differential equations are listed by the Lagrange method.The meshing stiffness and torsional stiffness of the contact positions of each meshing parts of the system are established and solved.Transforming the system differential equations into a matrix form by coordinate transformation,which i5 easy to solve,The Newmark-beta method in the numerieal solution is used to solve the matrix differential equations directly.The relative displacements and accelerates of the meshing positions of each part are obtained,by which the dynamic meshing forces of each contact parts are solved.Establishing a three-dimensional model of each component of the FT reducer.After the interference-free assembly,import the model into the ADAMS software and impose constraints on it.Dynamic simulation model of FT transmission is established by setting impact fiunction with stiffness and damping parameters.The dynamic characteristics of FT prototype under actual working conditions are obtained from three aspects of transmission ratio,acceleration and force.The dynamic meshing force solved by theory is verified.In the vibration test,three axial and nine radial vibration amplitudes are obtained by arranging 12 azimuth acceleration sensors,and the theoretical solutions are validated and analyzed in time domain and frequency domain.In the dynamic transmission accuracy test,the transmission accuracy of the prototype after loading is tested to verify the correctness of the theoretical solution.Through theoretical design,ADAMS simulation and dynamic test,the correctness of the dynamic model solution is verified.The dynamic transmission accuracy is 41.5104"～49.0541".It will lay a foundation for further theoretical research and optimization design. |
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