Research On Multi-objective Optimization Design Of RV Reducer Based On Bearing Capacity And Dynamic Characteristics

RV reducer is an important component of industrial robot.Its good mechanical properties and dynamic characteristics are the key to ensure good performance of industrial robot.At present,domestic high-precision RV reducers basically rely on imports,and the gap between domestic RV reducers and imported products is mainly reflected in the bearing capacity,accuracy,service life,vibration and noise of the reducer.In order to improve the comprehensive performance of the RV reducer,this paper carried out the multi-objective optimization design of the RV reducer,and analyzed the dynamic characteristics of the whole machine.Combined with the modification of the tooth profile of the cycloid wheel,a multi-objective optimization mathematical model that comprehensively considers the carrying capacity,the meshing backlash of the cycloid wheel and the volume of the transmission mechanism is established.Combined with NSGA-II multi-objective optimization algorithm,the mathematical model was solved using MATLAB programming.Compared with the initial parameters,the obtained optimized parameters reduce the volume of the reducer by 11.47%,the contact force of the cycloid wheel by10.94%,and the meshing backlash of the cycloid wheel by 8.9%.In order to improve the stress situation of the RV reducer rotor arm bearing,this paper analyzes the stress of the rotor arm bearing.In order to solve the problem of stress concentration at both ends when the bearing roller is loaded,a convex curve of the roller generatrix is ??designed.Using the finite element software ANSYS,the static analysis of the convex curve and the original contour roller were carried out respectively.By comparison,it was verified that the convex roller can effectively avoid the "edge effect" that occurs under load.This is used in the arm bearing This type of roller can effectively increase bearing life.The overall topology of the RV reducer is analyzed.Based on the lumped parameter method,the translation-torsion coupling model of the RV reducer is established.By analyzing the motion of each component,the dynamic equations of the system are established,and the mass,rotational inertia and system stiffness matrix of the component are calculated.By solving the dynamic equations,the natural frequencies and vibration modes of each order of the system are obtained,which provides a theoretical reference for the optimization of the dynamic performance of RV reducer.Using the multi-body dynamics software ADAMS to build a virtual prototype of the multi-objective optimized RV reducer in this paper,simulation and analysis of the cycloid gear meshing force,mesh backlash and output flange motion characteristics,and combined with fitting corner to modify RV Compared with the experimental data of the reducer,the predicted value of the return difference of the reducer is reduced by20%,which verifies the rationality of the optimization model.