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RV减速器是工业机器人的核心部件,而动载特性又是其结构设计的核心问题。文中针对RV减速器结构复杂、动力学分析理论建模难度大等特点,基于虚拟样机技术,采用Pro/E参数化建模和ADAMS软件,建立了RV减速器的动力学模型。以针齿与摆线轮的啮合力为目标,研究分析了各项设计参数对啮合力的影响及其规律,结果表明,啮合力随摆线轮齿数、短幅系数、针齿中心分布圆半径的增大而减小,啮合力和针齿半径之间呈非线性关系,摆线轮齿数、短幅系数、针齿中心分布圆半径是影响啮合力的主要因素,针齿半径的影响幅度相对较小;并探讨了各参数对RV传动的影响,研究结果对RV减速器的设计具有重要的指导意义。
RV reducer is the core component of industrial robots, and dynamic load characteristics is the core issue of its structural design. In view of the complex structure of RV reducer and the difficulty of modeling kinetic analysis theory, the dynamic model of RV reducer is established based on virtual prototyping technology and Pro / E parametric modeling and ADAMS software. The aim of this paper is to study the influence of the design parameters on the meshing force and the rule of the meshing force. The results show that the meshing force varies with the number of teeth of the cycloid, the short-amplitude coefficient and the circle radius , The meshing force and the tooth radius are nonlinear. The number of teeth, the short coefficient and the center circle of the tooth center are the main factors affecting the meshing force. The influence range of the tooth radius is relatively The influence of each parameter on the RV transmission was discussed. The research results have important guiding significance for the design of RV reducer.