Theoretical Research of the Modification of Cycloidal Gear used in RV Reducer of Robot

Zhao Bo; Deng Xiaozhong; Li Tianxing; Su Jianxin

doi:10.16578/j.issn.1004.2539.2015.12.001

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Theoretical Research of the Modification of Cycloidal Gear used in RV Reducer of Robot

更新时间：2022-10-20

- Theoretical Research of the Modification of Cycloidal Gear used in RV Reducer of Robot
- Vol. 39, Issue 12, Pages: 1-6(2015)
- 作者机构：
  
  1. 河南科技大学机电工程学院
  2. 2. 机械装备先进制造河南省协同创新中心
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.12.001
  CLC：
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[1]赵博,邓效忠,李天兴,苏建新.机器人RV减速器摆线轮修形的理论研究[J].机械传动,2015,39(12):1-6.

Zhao Bo, Deng Xiaozhong, Li Tianxing, et al. Theoretical Research of the Modification of Cycloidal Gear used in RV Reducer of Robot. [J]. 39(12):1-6(2015)
[1]赵博,邓效忠,李天兴,苏建新.机器人RV减速器摆线轮修形的理论研究[J].机械传动,2015,39(12):1-6. DOI： 10.16578/j.issn.1004.2539.2015.12.001.

Zhao Bo, Deng Xiaozhong, Li Tianxing, et al. Theoretical Research of the Modification of Cycloidal Gear used in RV Reducer of Robot. [J]. 39(12):1-6(2015) DOI： 10.16578/j.issn.1004.2539.2015.12.001.

摘要

针对机器人RV减速器摆线轮,基于单齿无侧隙失配修形的理念,将二阶抛物线修形量沿法线方向直接叠加至摆线轮的理论共轭齿廓,推导了修形后摆线轮齿廓的齿面方程。通过控制齿廓修形系数,可控制齿廓曲线不同啮合位置的修形量。所提出的抛物线修形方法与传统的等距加移距组合修形方法不同点是:在摆线轮主要工作段,修形后的齿廓更加逼近完全共轭齿廓。在Matlab中编写了摆线针轮传动的TCA程序,形成了抛物线型传动误差,证明该修形方法的合理性,从而为RV减速器摆线轮的修形设计提供了新的思路。

Abstract

Aiming at the cycloidal gear used in RV reducer of robots,based on the concept of the single tooth without side clearance,the tooth surface equation of the cycloidal gear after modification is deduced by directly adding the second- order parabolic modification amount to the theoretical conjugate tooth profile along the normal direction. The modification amount of different meshing position on tooth profile curve could be flexibly controlled by controlling the tooth profile modification coefficient. The differences between the parabolic modification and the traditional modification method of the combination of isometric and travel distance,the proposed parabolic modification method is much closer to the complete conjugate tooth profile on the main meshing areas.The TCA program of cycloidal- pinwheel transmission which is written in Matlab formed parabolic transmission errors and the correctness of this modification is proved,which provides a new thought for the modification design of cycloidal gear used in RV reducer.

关键词

RV减速器摆线轮修形齿面方程TCA

Keywords

RV reducerCycloidal gearModificationTooth surface equationTCA

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