Motion Error Analysis And Parameter Optimization Of RV Reducer

RV reducer is an important part of the robot,its performance directly affects the overall performance of the robot.In this paper,based on the loop-gain method,the error conduction process of RV reducer is modeled in detail,the influence of the error of each part on the final motion error of reducer is analyzed,and the tolerance belt of each part size of reducer is optimized to provide theoretical basis for the production of the reducer.The research content of this paper is summarized as follows:(1)On the basis of familiarity with RV reducer structure,transmission principle and research status of RV reducer error,the advantages and disadvantages of various calculation methods of RV reducer error are compared,and the loop-gain method is determined to be the modeling method of this paper,laying a theoretical foundation for the modeling of error conduction process of RV reducer.(2)Various factors influencing the error of RV reducer are analyzed,including the matching error of two sets of holes and shafts in the reducer,the meshing error of involute gear,and the meshing error of cycloid wheel and needle gear.The force direction of the hole axis is calculated and the error of the hole axis is equivalent to each rod according to the force direction.(3)Based on the loop-gain method,the error conduction model of RV reducer is established,and the error of reducer is divided into two parts:the partial error of involute planetary gear train and the partial error of cycloid planetary gear train.The partial errors of involute planetary gear train are modeled and analyzed by loop-gain method.According to the meshing principle of cycloid wheel,the rotation error of cycloid wheel is obtained by solving the equation of cycloid wheel meshing with needle tooth.Then the errors are summarized and the motion error conduction model of the whole reducer is obtained.The motion error of RV reducer is simulated by introducing various errors of RV reducer.(4)The sensitivity of each error of the reducer was analyzed,and the sensitivity of each error to the output error of the reducer was obtained;According to the established error conduction model,the size of each part is optimized,and the tolerance band is designed based on the optimization results.With monte carlo method finally randomly selected parts within tolerance zone size to simulate the actual part size,and introduce to the motion error of the conduction model,calculating the motion error of speed reducer,turns out to redesign the tolerance zone under the condition of the simulation can guarantee 95%after assemble products conform to the requirements of the accuracy of movement error of gear reducer.