Development Of Forward Design Software For Integrated RV Reducer Based On Limited Data Recommendation

RV reducer is the key component in the joint transmission of industrial robots.Its transmission performance indicators such as transmission efficiency,torsional stiffness,and transmission error are important guarantees for the accuracy and load-carrying capacity of industrial robots.The performance of China’s high-precision RV reducer is still far behind that of foreign products.As a result,the high-end RV reducer used in the existing industrial robot joint drive system still mainly depends on imports.One of the important reasons hindering the rapid development of China’s RV reducer industry is the lack of forward design software.A lot of practice shows that about 40% of product performance depends on the design segment.Therefore,based on the traditional "database-application" reducer structure design software,the analysis and guidance of the forward development method of structural design as the goal,with the integrated software system as the support,the development of software components with modularized and functionally configured RV reducer forward design software is of great academic significance and engineering practical value for improving the design of highperformance cycloidal planetary transmission and providing data support for the optimization of the reducer and the transmission performance estimation.Based on the limited data recommendation algorithm of structural parameters and the parameterized design theory of the structural components of the reducer,this paper parametrically designs the integrated RV reducer structure,and guides the optimization of RV component using a kinetic model that takes into account a variety of non-linear factors.The structure of the cycloidal-pin pair and the supporting bearing is optimized.The specific research contents are as follows:(1)Based on the design parameters of an RV reducer of a domestic reducer manufacturer,and based on the principle of the limited data recommendation algorithm,an SG-Resnet algorithm suitable for the generation of structural parameters is constructed.The structural parameters of the integrated RV reducer lay the foundation for the secondary development modeling.(2)On the basis of the structural parameters of the RV reducer,an RV reducer design and optimization platform is established,and the NX API secondary development is used to realize the parametric modeling of key components.Combining Abaqus software and Python programming language,a script file for calculating the torsional stiffness of the cycloidal-pin pair is created,and a graphical user interface is written.Use Py Qt5 to develop integrated structure RV reducer design software,and embed a universal structure optimization module.(3)Taking transmission efficiency,torsional stiffness and volume as optimization goals,a multi-objective optimization model of RV reducer is established.In order to save computational cost and improve design efficiency,a Kriging model with partial torsional stiffness is established.To solve the multi-objective mixed integer non-linear programming problem,the MP-NSGA-II(Mixed Population-NSGA-II)algorithm is constructed,and the coupling relationship between the optimized objectives is analyzed.The structure parameters selected by the entropy method are compared with BAJ-25 E to verify the rationality of the optimization route.(4)Based on the optimized parameters of the RV reducer,combined with the torsional kinetic model of the RV reducer with three planetary wheels,the Runge-Kutta algorithm is used to solve the nonlinear differential equations of the transmission system,and Sci Py is used to calculate and analyze the influences of flank clearance,time-varying mesh stiffness,manufacturing and installation errors on the dynamic characteristics of the RV reducer to verify the rationality of the RV reducer design platform.