Research On Precision Characteristics Of Precision Planetary Cycloid Reducer

As a core component of industrial robots,the performance of the precision planetary cycloid reducer,with its large transmission ratio,compact structure and high precision,has an important impact on the performance of the machine.Transmission error and return difference are important indicators to characterize the transmission accuracy of the precision planetary cycloid reducer,and it is particularly important to analyze the change law of both after wear to study the precision characteristics of the planetary cycloid reducer.In this paper,a theoretical analysis model of planetary cycloid reducer is proposed to predict the influence of the operating time on the transmission accuracy of the precision planetary cycloid reducer,taking the cycloid wheel and needle gears of the precision planetary cycloid reducer as the research object.The accuracy of the theoretical model is verified by a virtual prototype model of the planetary cycloid reducer.The accuracy degradation test of the planetary cycloid reducer prototype was carried out through experiments,and the experimental results provide an important reference for studying the accuracy degradation process of the planetary cycloid reducer and improving its service life.The main research elements of the thesis are as follows:(1)Three-dimensional modelling and simulation analysis of the precision planetary cycloidal reducer.According to the structural characteristics and transmission principle of planetary cycloid reducer,Hertz elastic contact and other theories,the key parameters such as speed,transmission ratio and contact stress of planetary cycloid reducer were calculated,and the structural design and strength analysis of the planetary cycloid reducer model were completed.The correctness of the model was verified,and it paved the way for the subsequent research.(2)Analysis of the factors influencing the transmission error and degradation of the precision planetary cycloid reducer.Through the error analysis of the key components of the planetary cycloid reducer,a dynamic accuracy dynamics analysis model of the planetary cycloid reducer is established to analyse the influence of single errors and multiple error combinations on the transmission errors of the planetary cycloid reducer.Based on the Archard wear model and the error model,the relationship between the wear time of the cycloid and the pin tooth and the transmission error is derived,and the relationship between the wear time of the cycloid and the pin tooth and the transmission error is obtained.Based on ANSYS and ADAMS,the thermodynamic model,static model and kinetic model of the planetary cycloid reducer are established,and the thermodynamic characteristics,static characteristics and accuracy degradation of transmission error of the planetary cycloid reducer are studied.(3)Analysis of the factors influencing the return difference and degradation of the precision planetary cycloid reducer.Through the analysis of the sensitivity of the planetary cycloid reducer return,a dynamic accuracy kinetic analysis model of the planetary cycloid reducer is established to analyse the influence of single-factor error and multi-error coupling on the dynamic return of the planetary cycloid reducer.Based on the Archard wear model and error model,the relationship between the wear time of the cycloid and the needle tooth and the return difference is derived,and the relationship between the wear time of the cycloid and the needle tooth and the return difference is obtained.The dynamics model of the planetary cycloid reducer was established based on ADAMS,and the degradation of the return accuracy of the planetary cycloid reducer was studied.(4)Precision planetary cycloid reducer accuracy degradation experiment.A horizontal comprehensive performance measuring instrument of a certain type was used to test the planetary cycloid reducer prototypes that had been in service for different periods of time,and the influence of wear time on the transmission error and backlash of the planetary cycloid reducer was studied.The accuracy degradation test of the planetary cycloid reducer was carried out to study the variation of the transmission error and dynamic return of the planetary cycloid reducer,further verifying the correctness of the theoretical calculation and simulation analysis results.