Analysis Of Transmission Error Of Abnormal Cycloidal Gear Reducer

Due to the complex over-positioning structure,high precision requirements of machining an assembling RV reducer restricted the development of domestic robots.Our team has proposed a new type precision reducer with abnormal cycloidal gear(ACG)reducer from the perspective of new profile and new structure,which can achieve the purpose of large transmission ratio and reduce.the precision requirements of machining under the premise of avoiding over-positioning.However the transmission error is directly related to the precision and stability of the transmission.Analysis of the transmission error variation law of ACG reducer has important theoretical guiding sign ificance and practical application value for the design and manufacture of ACG reducer and the improvement of ACG reducer transmission performance.Therefore,the present thesis has a comprehensive study for the transmission error of ACG reducer.The prime contents and achievements are summarized as follows.(1)The feasibility of structural parameter design is verified by using virtual prototype technology and finite element method to analyze the stress of each part and the dynamic charactestics of the whole machine.According to the structural composition and design principle of the ACG reducer,the transmission ratio calculation formula is derived.The structure parameters of the reducer depend on the transmission ratio requirements,the 3D model of ACG reducer is established by par ametric modeling method.The stress of main components,transmission ratio,transmission efficieney and transmission error of ACG reducer are obtained by static simulation and dynamic simulation.(2)The nonlinear mathematical model of AGG re ucer transmission error is constructed by the idea of equivalence model.Based on the institutional precision theory,the transmission errors generation mechanism are studied.According to the thought of equivalent model,analyze the impact of manufacturing errors,assembly errors,clearance and micro displacement of the main components of the reducer,which have impact on the transmission accuracy At the same time,the mechanics model of ACG reducer system is established,.the equivalent error produced by different error parameters influence at the spring action line of each component are analyzed.The equilibrium equation of force and moment is deduced,and the nonlinear mathematical model of ACG reducer transmission error is derived.(3)Through the numerical integration method,the nonlinear mathematical model of ACG reducer transmission error is solved,a nd the influence rule of the error parameter on the transmission error of the whole machine is obtained.The nonlinear mathematical model of ACG reducer transmission error is solved Runge-Kutta method.The correctness of the mathematical models.is validate by comparing the results of n umerical simulation and model simulation.According to the problem that how different error parameters influence the transmission error of the reducing mechanism,the simulation is carried out used matlab.The varying curve of transmission error of different error parameters is obtained,the main error factors that affe ct the transmission accuracy are found out,so the greater impact factors should be taken seriously and controlled,the transmission accuracy can be effectively improved.