机器人用RV传动动态传动精度设计理论与方法研究

The RV drive used in robot is a new type drive, which is developed on the basis of cycloid drive. It has a serial advantages, such as wide range of transmission ratio, high transmission accuracy, little backlash, high rigidity, high capacity of impact resistance, small volume, compact structure and high transmission efficiency and so on. So it is widely used in the high-precision transmission. The factors that affect RV reducer dynamic transmission accuracy is very complex. In order to pre-control system dynamic transmission accuracy and improve RV reducer design and manufacturing level in oue country, the project uses the method which combined with mechanism precision design and system dynamics analysis theory, mathematical modeling and digital simulation and prototype test verification to research the combined effects of various parts of the RV reducer machining errors, assembly errors, fit clearance, as well as major parts elastic deformation on the dynamic transmission accuracy. Based on pre-control of the RV reducer dynamic transmission accuracy, research the intrinsic relationship mechanism between the error of the various parts and the whole transmission accuracy of system to obtain the best error distribution scheme. By means of the developed prototype test, the design theory and method of the RV drive dynamic transmission accuracy is put forward.

机器人用RV传动是在摆线针轮传动基础上发展起来的一种新型传动，它具有传动比范围大、运动精度高、回差小、刚度大、抗冲击能力强、体积小、结构紧凑、传动效率高等一系列优点，故而被广泛应用于高精密传动。RV减速器动态传动精度的影响因素非常复杂，为了能够预先控制系统动态传动精度，提高我国RV传动减速器设计和制造水平，本项目通过采用机构精确度设计与系统动力学分析理论、数学建模和数字仿真、研制样机试验验证相结合的方法，研究RV减速器中各零件的加工误差、装配误差、配合间隙以及各主要零部件的弹性变形等因素对系统动态传动精度的综合影响。在保证RV减速器系统动态传动精度基础上，系统研究上述各零件误差与整机传动精度关系的机理，得到最佳误差分配方案。通过研制样机的试验验证，总结提出RV传动动态传动精度设计的理论与方法。

本项目对机器人用RV传动的动态传动精度设计理论与方法进行了深入研究，推导出适用于数控加工及磨削加工且包含有摆线齿廓径向修形量、啮合压力角等参数的精密型摆线齿廓数学方程。采用集中参数法和传递矩阵法，并考虑各构件的加工误差、装配误差、配合间隙和变形等因素，建立了高精度RV传动系统动态传动精度分析模型，分析得到单个误差因素对系统传动精度的影响规律。开发了全参数化的机器人用RV减速器受力分析的有限元模型，仿真分析能得到摆线针轮在不同的啮合位置的受力及变形，以及摆线轮体的变形及受力矢量分布规律。以多体系统动力学理论为基础，建立了含配合间隙的RV减速器非线性传动机构虚拟样机，完成了RV传动运动学、动力学等的动态接触仿真分析。基于正交试验法，分析了曲柄轴承、转臂轴承及主轴承间隙分布规律对传动精度的影响规律。研制开发了一套能够检测RV减速器传动精度、回差、扭转刚度、传动效率等参数的整机性能试验设备。本项目成功研制出多种型号RV减速器样机，并经试验验证，样机的传动精度小于1弧分，齿隙及空程小于1弧分，技术指标达到国际先进水平。