Dynamic Analysis And Optimization Design Of RV Reducer Used In Robot

Application density of robot is an important manifestation of a country's industrial manufacturing development level.As a key component to ensure the working performance of the robot,the RV decelerator carries the function of transmitting high-precision motion and power.In order to break through the technical bottleneck of RV reducer transmission accuracy,enhance the competitiveness of domestic robots in the global market,accelerate the transformation and upgrading of China's industry,and realize the strategic goal of manufacturing strong countries.The beveloid gear RV decelerator for robots is as the research object in this paper.Based on the principle and characteristics of the beveloid gear RV decelerator,theoretical analysis and simulation research has been conducted on its dynamic characteristics and optimization design.The main content of the article is as follows:1)Based on the analysis of nonlinear factors of internal excitation of the beveloid gear RV decelerator,the pure torsional dynamic model of beveloid gear pair is established.The dynamic differential equation is dimensionless,and the multi-scale method is used to solve and analyze the resonance response law of the beveloid gear pair system under the internal excitation condition.2)The mechanism of the intrinsic and device error of the beveloid gear RV decelerator transmission part is analyzed,and the calculation formula of the error is derived.Based on Monte Carlo simulation principle,the mathematical model of transmission error of RV decelerator is established.The Matlab software is used to simulate and calculate the model of the RV decelerator transmission system,and the maximum influence factors of the transmission error of each level and the whole machine are obtained.3)According to the relative coordinate theory,the tooth surface equation of the beveloid gear is derived.The main parameters of the RV decelerator are used to complete the three-dimensional modeling of the RV decelerator through SolidWorks software.The dynamic characteristics of the RV reducer were simulated by RecurDyn software.The variation rules of the transmission speed and the gearing force of the beveloid gear pair were analyzed,and the correctness of the prototype model was verified;the transient contact analysis of the beveloid gear pair was carried out in combination with ANSYS software and revealed the saddle shape phenomenon when the tooth surface of the beveloid gear is in contact.4)The relationship between transmission error and shape modification is derived with the analysis of the principle and method of gear shaping.Based on the combination of genetic algorithm theory and finite element software,the optimal shape modification parameters with the minimum value of transmission error are determined.Comparing and analyzing the contact characteristics of the beveloid gear pair and the transmission error of the RV decelerator before and after the modification,it proves that the modification optimization method is accurate and effective,which can eliminate the stress concentration of the edge of the tooth surface of the beveloid gear and greatly improve the transmission precision of the RV decelerator.