Fatigue Life Analysis And Optimization Design Of Key Parts Of RV Reducer Based On Rigid-flexible Coupling

Industrial robots are known as "the pearl at the top of the manufacturing crown".They are the core equipment for realizing industrial intelligence and the cornerstone of the future development of intelligent manufacturing.In recent years,my country’s industrial robots and their core components have made great progress,but compared with the international advanced level,domestic industrial robots,especially joint reducers,have a high failure rate during operation,advanced functions and performance are difficult to maintain,and reliability.The problem stands out.The key to improving the fatigue life and reliability of the reducer is to improve the fatigue life and reliability of its core components.Therefore,it has important theoretical significance and practical application value to carry out fatigue life and performance analysis and research on the key parts of domestic RV reducers.Relying on the Key Laboratory of Numerical Control Equipment Reliability of the Ministry of Education of Jilin University,this paper carries out parametric modeling,dynamic simulation,fatigue life analysis based on rigid-flexible coupling and multi-objective optimization design of cycloidal gear for domestic RV reducer.The main research contents of this paper are as follows:(1)Taking the domestic RV-20 E RV reducer as the research object,the basic principle and typical failure mode of the RV reducer are analyzed.The standard involute curve equation and cycloid tooth profile curve are established,and the parametric three-dimensional part model and assembly model of the RV reducer are established.The modal analysis of the RV reducer was carried out,and the modal analysis values of key components were compared with the meshing frequency and rotational frequency of the parts calculated theoretically,which verified the validity and accuracy of the whole machine model.(2)Dynamic simulation of RV reducer was carried out.In Recur Dyn,the dynamic model of the RV reducer under the working state of the maximum input speed is established,and the speed of each key transmission component and the transmission ratio of the whole machine are obtained through dynamic simulation analysis,which verifies the accuracy of the model.The contact force and other data are obtained from the simulation,and the variation law of the meshing force between the transmission mechanisms is analyzed.(3)A fatigue life analysis method of key transmission parts of RV reducer based on rigid-flexible coupling is proposed.The cycloidal pinwheel and planetary gear mechanism are flexible processed by the FFlex method,the rigid-flexible coupling model of the RV reducer is established,and the rigid-flexible coupling analysis of the RV reducer based on Recur Dyn is carried out.According to the actual working conditions The dangerous parts of the transmission mechanism and the maximum stress nephogram are obtained;using the Durability module,the fatigue durability of the RV reducer parts is analyzed and evaluated,and the fatigue life nephogram of the cycloidal pinwheel and the involute gear is obtained.(4)A multi-objective optimization design of cycloid tooth profile based on improved whale optimization algorithm is proposed.According to the characteristics of the commonly used cycloidal gear modification methods,the advantages and disadvantages of the cycloidal gear tooth profile modification methods and the modification equations are analyzed.The maximum contact force and the minimum approximation degree with the corner modification are the optimization objectives.A multi-objective optimization model of the cycloid tooth profile based on the improved whale optimization algorithm is established,and the modification parameters of the cycloid tooth profile are obtained.The gear tooth profile was optimized and modeled,and the rigid-flexible coupling analysis and comparative verification were carried out again.The results show that the optimized cycloid tooth profile effectively reduces the maximum contact force and transmission error of the cycloid wheel,and significantly improves the fatigue life.Through the research of this paper,a complete set of parametric modeling of RV reducer,fatigue life analysis of key components and multi-objective optimization design research plan are proposed,which can provide a reference for the subsequent optimization design plan of industrial robots.