RV减速器传动误差特性分析与实验研究

以高精度RV-80E减速器为研究对象,针对其结构特点,利用ADAMS多体动力学仿真软件建立RV减速器刚柔耦合模型,并验证模型的正确性。采用刚柔耦合模型设计了多组不同误差的仿真样机,并通过仿真分析了不同误差因素对整机传动精度的影响。分析不同的误差组合方式,得出正等距和负移距、负等距和正移距的误差组合可以有效地减小传动误差对整机传动精度的影响。通过实验测试,分析了国内外RV减速器传动精度的差异。分析了RV-80E减速器传动误差和误差频谱,确定了二级传输误差为影响传动精度的主要原因。研究结果为减速器批量化生产提供了参考。

Analysis and Experimental Study on Transmission Error Characteristics of RV Reducer

High precision RV 80E reducer was taken as the research object.According to its structural characteristics, the rigid flexible coupling model of the RV reducer was established by using ADAMS multi body dynamic simulation software, and the correctness of the model was verified. A series of simulation prototypes with different errors were designed by using rigid-flexible coupling model, and the influence of different error factors on the transmission accuracy of the whole machine was analyzed through simulation. By analyzing different error combination methods, it was concluded that the influence of transmission error on the transmission accuracy of the whole machine could be effectively reduced when the error combination was positive equidistance and negative shifting distance, negative equidistance and positive shifting distance. Through experimental tests,the difference of RV reducer transmission accuracy at home and abroad was analyzed. The transmission error and error spectrum of RV 80E reducer were analyzed, and the secondary transmission error was determined as the main reason that affected the transmission accuracy. The research results provide reference for mass production of reducer.