Study On Closed Drive Shaft Type Planar Movable Tooth Reducer

The reducer of robot joint drive has the requirements of high precision,small size,large load and high efficiency.In order to make up for the shortcomings of harmonic reducer and RV reducer.This paper presents a planar two-stage movable tooth reducer closed by input shaft,which has the characteristics of compactness and large speed ratio.The planar twostage movable tooth reducer closed by input shaft can be use in limited space.The threedimensional modeling,speed ratio analysis,motion simulation,force analysis,efficiency analysis and electromechanical coupling analysis of the reducer are carried out,and the processing and experiments of the prototype are completed.The structure of the planar two-stage movable tooth reducer closed by input shaft is designed,and three-dimensional modeling is built.The speed ratio of the reducer is analyzed by relative motion,torque analysis and series-parallel method.The UG software is used for motion simulation to verify the accuracy of the transmission.Simultaneously,it is simulated that the eccentricity error seriously affects the motion accuracy of the transmission system.The forces in the reducer are analyzed.Considering the actual internal and external alternating meshing force of the transmission steel ball,the force on steel balls are studied.The influence of parameter changes on the transmission force is analyzed,and it is found that adjusting the eccentricity,base circle radius,steel ball radius and track slope inclination can all reduce the force of the transmission system.Considering the speed and curvature of inner and outer meshing points in the wave generator and the center wheel track,the efficiency of transmission system is analyzed.he effect of parameter changes on the efficiency is analyzed,and it is found that adjusting the eccentricity,base circle radius,slope angle and steel ball radius can improve transmission efficiency.The electromechanical coupling model of the reducer plus stepper motor is established.The influence of the basic parameter changes in the coupling system on the force of the reducer is studied.The influence of eccentricity,base circle radius and steel ball radius on power angle,electromagnetic torque,mechanical torque,mechanical efficiency,electromagnetic efficiency and total efficiency are studied.The structure of the reducer is optimized,and a plane movable tooth reducer without movable tooth frame is designed,and the efficiency experiment of the new structure is carried out.The maximum measured efficiency reaches 60.4%.