机器人RV减速器声发射信号传播机理分析及实验研究

关于RV减速器的声发射信号传播机理目前还缺乏定量的分析．本文旨在分析和研究声发射信号在减速器内部的传播机理，实现对减速器磨损等故障的准确监测与评估．首先从RV减速器的运动学机理出发，建立声发射信号在RV减速器内部的传播模型，接着利用小波变换分析方法得到不同频段的声发射信号时频分量特征，进而建立RV减速器声发射信号趋势演化模型．通过RV减速器的加速退化实验，得到了4种不同磨损状态下的声发射信号演化趋势，验证了本文提出的声发射信号传播模型的正确性．

Propagation Mechanism Analysis on the Acoustic Emission Signal in RV Reducer and Its Experimental Research

At present, there isn't a quantitative analysis on acoustic emission propagation mechanism of RV (rotate vector) reducer. For this problem, this paper seeks to analyze and investigate the propagation mechanism of acoustic emission signals in RV reducer, and monitors and evaluates the reducer failures accurately, such as the reducer wear. Firstly, the propagation model of acoustic emission signal in RV reducer is built based on its kinematic mechanism. Then the wavelet transform analysis is used to obtain the time-frequency component features of acoustic emission signals at different frequency bands, and the trend evolution model of acoustic emission signals is derived. In the accelerated degradation tests of RV reducer, the evolution trends of acoustic emission signals in 4 different wear states are obtained, which proves the validity of the acoustic emission signal propagation model.