Transmission Error Analysis for Industrial Robot RV Reducer

doi:10.7652/xjtuxb201710001

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Transmission Error Analysis for Industrial Robot RV Reducer

更新时间：2025-07-09

- Transmission Error Analysis for Industrial Robot RV Reducer
- Vol. 51, Issue 10, Pages: 1-6+46(2017)
- 作者机构：
  
  西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb201710001
  CLC： TH132.46
- Online First：10 October 2017，
  
  Published：2017
- 稿件说明：
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Transmission Error Analysis for Industrial Robot RV Reducer[J]. 2017, 51(10): 1-6+46.
DOI：

Transmission Error Analysis for Industrial Robot RV Reducer[J]. 2017, 51(10): 1-6+46. DOI： 10.7652/xjtuxb201710001.

摘要

以RV减速器为研究对象

结合其第2级摆线针轮传动机构的多齿啮合特性

采用作用线增量法

分析了各个针齿与摆线轮啮合处的原始误差造成的摆线轮自转误差

得到多齿啮合下的摆线轮输出转角误差

并以此为基础

建立了传动误差分析模型

研究了各个构件的原始误差对输出转角误差的影响规律

揭示了各个构件的原始误差的传递过程。对320E样机进行了实例计算和实验研究

结果表明:输出盘轴孔偏心误差对样机的传动误差影响最大

其次是摆线轮齿形误差和曲柄轴偏心误差

行星轮偏心误差的影响最小; 位于低速级的原始误差影响较大

而位于高速级的原始误差影响较小; 输出盘与行星架相联造成的反馈引起的传动误差很小

但在精密传动中仍不可忽略。

Abstract

Aiming at the multi-tooth meshing characteristics of cycloid drive on the second level of a RV reducer

the rotation errors of cycloid gear caused by the original errors at the points of each needle teeth meshing with cycloid gear are analyzed and the transmission error of cycloid drive caused by these original errors is calculated according to the principle of action line increment. Then a transmission error analysis model of the RV reducer is established to discuss the influence of each original error on the slewing precision of RV reducer and the transfer process of the original errors of each member. The numerical simulation and test for 320E prototype indicate that the geometrical deviation of shaft hole on the output tray has the greatest effect on the transmission error of RV reducer

the effects of the cycloid gear error and the geometrical deviation of shaft are smaller

and the geometrical deviation of planetary gear has the smallest effect; the effects of the original errors located in the low-level of RV reducer are smaller than the effects of the original errors located in the high-level; the influence of error feedback on the transmission error is very small

but it still cannot be ignored in precision transmission.

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Keywords

references

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CHEN Zhenyu, SHEN Zhaoguang, YANG Yuhu. Meshing characteristic analysis of cycloid pin gear planetary transmission mechanism [J]. Journal of Machine Design, 2015(10): 9-14.

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