A design of speed reducer with trapezoidal tooth profile for robot manipulator

Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.     

滤波减速器轮齿齿形修形及分析

介绍了滤波减速器的结构及传动原理,分析了滤波减速器轮齿齿形修形的原因,同时选用适用于工业生产的修形量、修形曲线及修形长度计算方法,对样机进行了实例计算。并用ANSYS对修形前后齿轮啮合过程进行动态接触有限元分析,比较修形前后轮齿表面接触应力的变化,验证了修形效果。最后对样机进行了振动测试实验,进一步证明了轮齿齿形修形可以起到减振降噪的效果。     

Development of speed reducer with planocentric involute gearing mechanism

A new speed reducer with the planocentric involute gearing mechanism, which can be replaced with a cycloid drive, is developed. This speed reducer eliminates some significant disadvantages of the cycloid drive, which are difficulty in not only designing and manufacturing the tooth profile but also meshing the gears to maintain an accurate center distance. In this paper, to avoid tooth tip interference between internal and external gears and maximize a speed reduction ratio, a pressure angle, a tooth height, a profile shifting factor and the number of teeth are simulated. We manufacture a prototype based on these simulated results of the design specifications (the rated power of 350watts, rated speed of 3600rpm and speed reduction ratio of 41:1), of which the overall size is Ф146mm×95.2mm. A power efficiency test of the prototype is carried out to compare with the cycloid drive.     

机器人精密减速器摆线针轮啮合传动瞬态接触性能分析

工业机器人精密减速器的传动精度和动态稳定性在很大程度上取决于摆线针轮的啮合性能.通过Creo和ANSYS Workbench相结合的数字化设计与动力学分析平台,对精密减速器第二级减速机构的摆线针轮啮合传动部分进行了三维参数化建模和瞬态动力学分析,快速、准确地获得研究所需的精密减速器参数化模型和摆线针轮动态啮合过程中摆线...     

RV减速器主轴承拟静力学模型简化分析方法

针对RV减速器主轴承球数较多导致求解受力和变形的非线性方程组数量成倍增加,求解速度慢的问题,建立了径向载荷、轴向载荷及力矩载荷联合作用下的五自由度角接触球轴承拟静力学模型,在牛顿-拉弗森算法的基础上,提出了假设相邻几个球的接触角、接触载荷与接触变形一致,计算中将其作为相同零件处理的简化分析方法.并以某减速器用主轴承H7...     

Mesh Force Modelling and Parametric Studies for Compound Oscillatory Roller Reducer

A compound oscillatory roller reducer (CORR) with a first-stage gear transmission and a second-stage oscillatory roller transmission is presented.The transmission principle of oscillatory roller transmission is introduced,and the tooth profile equation of the inner gear is derived.The analytical model of mesh force considering the installation errors and manufacturing errors is proposed.Then,parametric studies considering different errors on the mesh force are con-ducted.Results show that the design parameters are significant factors for mesh force.The mesh force is reduced by 17％ as the eccentricity of disk cam increases from 2.5 mm to 4 mm.When the radius of the movable roller increases from 7 mm to 20 mm,the mesh force decreases by 8％.As the radius of disk cam increases from 125 mm to 170 mm,the mesh force is decreased by 26.5％.For the impacts of errors,the mesh force has a noticeable fluctuation when these errors exist including the manufacturing error of disk cam,the installation error of disk cam and the manufactur-ing error of movable roller change.The prototype of the reducer is manufactured and preliminary run-in test proved the feasibility of the transmission principle.     

Feasibility analysis of using a two-stage nutation drive as joint reducer for industrial robots

Nutation drive claims the advantages of high load capacity, large transmission ratio, desirable stability, low noise, and compact volume, which makes it an excellent alternative to typical joint reducers used in industrial robots. This paper proposes a novel two-stage nutation drive as a joint reducer for the industrial robot. The working principle of the nutation movement is first introduced followed by an analysis of transmission characteristics. The transmission ratio, the transmission efficiency as well as the structural schematic of the proposed nutation drive are presented. Finite element analysis of the main components, including nutation sleeve and bevel gears, was performed. Finally, a prototype was designed, manufactured and tested to verify the feasibility of applying the nutation drive as a joint reducer for industrial robots.

     

基于优化承载能力的RV减速器摆线齿轮齿廓的等距-移距修形

结合传统等距修形方法和移距修形方法,提出了一种基于优化承载能力的摆线轮齿廓的新型等距-移距组合修形方法。以工业机器人RV-40E减速器的摆线针轮为例,对其传动进行了力学分析,以最优承载能力为目标建立了摆线轮修形量搜寻数学模型,并采用格点法进行了优化,最终通过数值求解获得了等距-移距修形的摆线轮齿廓曲线。设计了摆线轮加工工艺,分别加工制造了等距-移距修形的摆线轮和作为对比验证的传统拟合转角修形摆线轮,并分别组装出RV减速器样机进行性能测试。试验结果表明:装有该等距-移距修形摆线轮的RV减速器的传动效率高达85%,相比于装有传统拟合转角修形摆线轮的RV减速器,该新型RV减速器在重载情况下的噪声和温升均显著降低,承载能力得到了明显提高。     

基于ABAQUS的滤波减速器的齿轮本体温度场分析

对设计的一种新型滤波传动件进行受力分析,采用C语言编程计算的方法,对滤波减速器齿轮啮合齿对的相对滑动速度及啮合齿面的单位面积的摩擦热流量进行分析计算,确定滤波减速器齿轮本体温度场热分析的边值问题、加载参系数后,应用有限元分析软件ABAQUS进行分析计算,分析齿轮的本体温度场分布情况.结果表明:在载荷一定的条件下,随着转速的增加,单位面积的摩擦热流量也随之增加,但温度场的分布不会因转速的变化而改变;齿轮上温度场分布不均匀,最高温度点出现在齿轮接触面靠近节线处,最低温度出现在轮齿端部,这会造成齿轮的热应力变形,导致减速器承载能力下降、传动精度降低、使用寿命缩短.     

活齿与波形轮接触处油膜厚度的计算

利用弹流润滑理论,推导了外波式活齿减速器活齿与波形轮接触处油膜厚度公式并进行了计算,为地量步研究该类减速器的润滑机理和工作性能提供了理论依据。     

基于虚拟样机技术的行星齿轮传动系统分析

利用实体建模软件UG建立了减速器行星齿轮传动系统的虚拟样机,并利用UG与动力学仿真分析软件ADAMS,将虚拟样机导入到ADAMS中建立仿真模型。齿轮啮合中轮齿间除了滚动接触外还存在相应的滑动接触,使轮齿间具有较大的摩擦了,针对传统赫兹理论形成的齿面接触力计算没有考虑齿间摩擦,将摩擦系数引入计算,得到了齿轮之间的接触力曲线变化。应用UG NX的"高级仿真"模块,建立行星轮有限元模型,通过解算器NX NASTRAN对有限元模型进行分析求解,得到行星轮在接触力作用下应变和应力分布情况,再根据设计要求对零件参数进行优化,使行星轮的结构既满足设计要求,又达到体积小和成本低。     

新型摆杆减速器的研究

本文给出了一种新型摆杆减速器的结构组成和工作原理,能过对该减速器摆机构运动的分析,推导出了内齿圈齿廓的方程式,同时对机构的传动特性进行了讨论。通过对机构和初步试制和试验,证明了理论分析的正确性,为这种减速器的进一步研究打了基础。     

RV减速器摆线针轮传动多体动力学研究

摆线针轮啮合传动部分是RV减速器的关键结构之一,基于多体动力学构建虚拟样机进行仿真分析是研究RV减速器动态特性的常用方法。在不同载荷和不同工作环境下,基于多刚体动力学对RV减速器进行了仿真分析,仿真结果直观显示了不同工作环境下摆线针齿啮合特性变化情况。采用刚柔耦合技术,提取连续节点应力变化曲线进行分析,确定了啮合时最大接触力的位置和大小,为后续对修形方式的研究和改进提供了理论基础。     

螺纹铣削切削力有限元分析及试验

为了研究螺纹铣削法加工钛合金螺纹时切削力随切削参数的变化规律,通过对材料本构关系、刀—屑接触及切屑分离准则进行分析,建立了能反映刀具自转、公转及轴向进给运动的三维螺纹铣削模型。利用该模型对每齿进给量和切削速度对切削力的影响进行分析,结果表明:切削力随每齿进给量的增大而增大,随切削速度增加而减小,且每齿进给量对切削力的影响较为显著。通过螺纹铣削试验对所建立的三维铣削模型进行验证,表明所建立模型的误差最大为14%,可满足实际加工需要。     

凸轮激波复式活齿传动的结构及齿形分析

提出一种新颖的大速比传动装置——凸轮激波复式滚动活齿传动装置，该传动装置由一级NGW型行星传动机构与一级凸轮激波的二齿差滚动活齿传动机构串联组成。对其传动原理、传动比及传动特性进行了分析，以此为基础设计了装置的传动结构。导出了中心内齿轮的齿形方程，给出了齿形计算示例，并进一步分析了相关参数对齿形几何性质的影响。     

矿用减速器斜齿轮副动态啮合仿真分析

利用大型有限元分析软件ANSYS建立了某矿用减速器变位斜齿轮副多齿对啮合的有限元非缌性接触分析模型.基于该模型,对齿轮副进行了在一定工况下的动态啮合仿真分析,得出瞬态啮合时轮齿的接触状态、接触应力、齿根弯曲应力以及主从动齿轮的转矩、转速随啮合位置变化的规律符合实际啮合规律,同时得到最恶接触位置,并在此位置进行了静态接触强度分析.分析结果表明,动态啮合仿真能够真实反映轮齿的接触状态、接触应力以及齿根弯曲应力的动态变化,静态接触分析进一步验证动态啮合分析的可靠性,也为疲劳寿命分析提供了依据.     

链条少齿差行星减速机的研究及其CAD

链条少齿差行星减速机是一种新型行星传动装置。介绍了行星轮齿廓曲线的形成,行星轮的受力分析,齿廓曲线的优化设计和整机的计算机辅助设计。     

摆线针轮行星减速机的回程误差分析

对于以传递运动为主的摆线针轮行星减速机 ,回程误差可能是影响其使用性能的因素之一。回程误差是减速机内各零部件的制造误差、装配误差和原理误差 (如齿廓修形 )的函数。计算表明 ,摆线齿轮的齿廓修形虽然对传动误差的影响不是很大 ,但对回程误差的影响较大     

连杆凸轮减速器的研制

介绍了一种新型的连杆凸轮组合机构,对这种新型组合机构进行了结构、运动设计和力学性能分析;基于该机构并借助于一齿差原理和现有减速器的部分结构特点,经结构设计、样机试制,成功地研制了一种新型连杆凸轮减速器;创新了连杆的惯性力在构件上平衡的新方法,提高了减速器的运转平稳性。经工业考核和台架试验表明,这种新型减速器具有传动比大、承载能力高、传动效率高等优点,为国内减速器行业增添了一个新品种,具有广泛的应用前景和推广价值。     

Efficiency Analysis of a Cycloid Reducer Considering Tolerance

High precision reducers such as cycloid reducers have been used to meet the mechanical system requirements of industrial robots for advantages such as: high reduction ratio, large torque capability, and high efficiency. Although efficiency of reducers is one of important performances, there are few studies on efficiency of a cycloid reducer considering its tolerance. This paper presents efficiency analysis of a cycloid reducer with tolerance using the approximate force distribution of an ideal cycloid reducer. First, we present an FE analysis of a cycloid reducer with tolerances. Then, we approximate force distribution of the cycloid reducer with tolerance using an ideal cycloid reducer without any tolerance. The approximated force distribution of the cycloid reducer can be easily calculated using the theory of the ideal cycloid reducer. Finally, efficiency analysis of the cycloid reducer is performed using the approximate force distribution. Tolerance has great effect on efficiency on a cycloid reducer.