Measurement and Analysis of Transmission Error of the Robot RV Reducer

Wang Haixia; Wu Qingfeng; Wu Yibo; Wang Qingzhong; Zheng Boheng; Hu Weijian

doi:10.16578/j.issn.1004.2539.2020.02.015

您当前的位置：

首页 >

文章列表页 >

Measurement and Analysis of Transmission Error of the Robot RV Reducer

Test·Analysis | 更新时间：2022-10-25

- Measurement and Analysis of Transmission Error of the Robot RV Reducer
- Journal of Mechanical Transmission Vol. 44, Issue 2, Pages: 104-108(2020)
- 作者机构：
  
  1.广东产品质量监督检验研究院国家工业机器人质量监督检验中心（广东），广东佛山 528300
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.02.015
  CLC：
扫描看全文
王海霞,吴清锋,吴艺波等.机器人RV减速器传动误差的测量与分析[J].机械传动,2020,44(02):104-108.

Wang Haixia Wu Qingfeng Wu Yibo Wang Qingzhong Zheng Boheng Hu Weijian.Measurement and Analysis of Transmission Error of the Robot RV Reducer[J].Journal of Mechanical Transmission,2020,44(02):104-108.
王海霞,吴清锋,吴艺波等.机器人RV减速器传动误差的测量与分析[J].机械传动,2020,44(02):104-108. DOI： 10.16578/j.issn.1004.2539.2020.02.015.

Wang Haixia Wu Qingfeng Wu Yibo Wang Qingzhong Zheng Boheng Hu Weijian.Measurement and Analysis of Transmission Error of the Robot RV Reducer[J].Journal of Mechanical Transmission,2020,44(02):104-108. DOI： 10.16578/j.issn.1004.2539.2020.02.015.

摘要

为准确测量机器人RV减速器的传动误差，分析测量过程中负载和输入转速的影响，指导机器人RV减速器的测量和应用，通过选型关键测试部件搭建了由驱动模块、加载模块、控制模块、测量模块、软件模块和机械模块组成的机器人RV减速器综合试验台，测量了RV-40E和RV-320E不同条件下的传动误差值，得到了传动误差曲线图。基于实验数据拟合出负载、输入转速、不同型号和传动误差之间的关系，分析了负载、输入转速、刚度对于传动误差的影响。结果表明，机器人RV减速器的传动误差随着负载和输入转速的增大而增大，随着刚度的增大而减小，负载对传动误差测量值的影响为3阶次，对其影响较大。

Abstract

In order to measure the transmission error of the robot RV reducer accurately and analyze the influence of the load and input speed during the measurement process, then guide the measurement and application of the robot RV reducer, a robot RV reducer comprehensive test bench consisting of a control module, a measurement module, a software module and a mechanical module is built by selecting key test components, the transmission errors of RV-40E and RV-320E under different conditions are measured, and the transmission error curves are obtained. The relationships of transmission error between load, input speed and different models is fitted based on the experimental data, and the influence of load, input speed and stiffness on the transmission errors is analyzed. The results show that the transmission error of the robot RV reducer increases with the increase of the load and input speed, and decreases with the increase of the rigidity, and find that the influence of the load on the measured transmission error is third order, which has a greater impact.

关键词

机器人 RV减速器传动误差测量负载输入转速

Keywords

RobotRV reducerTransmission errorMeasurementLoadInput speed

references

张洁.RV减速器传动特性分析[D].天津:天津大学，2012:1-4.

ZHANG Jie.Analysis on the transmission characteristic of rv reducer[D].Tianjin:Tianjin University，2012:1-4.

李兵，杜俊伟，陈磊，等.工业机器人RV减速器传动误差分析[J].西安交通大学学报，2017，51（10）:1-6.

LI Bing，DU Junwei，CHEN Lei，et al.Transmission error analysis for industrial robot RV reducer[J].Journal of Xi'an Jiao tong University，2017，51（10）:1-6.

梁帅锋，邓效忠，李天兴，等.机器人RV减速器摆线针轮传动轮齿接触分析[J].机械传动，2017，41（11）:17-22.

LIANG Shuaifeng，DENG Xiaozhong，LI Tianxing，et al.Tooth contact analysis of cycloidal pinwheel drive in RV reducer of robot[J].Journal of Mechanical Transmission，2017，41（11）:17-22.

郑钰馨，奚鹰，李梦如，等.RV减速器二级减速部分原始误差分析[J].机械传动，2017，41（9）:11-17.

ZHENG Yuxin，XI Ying，LI Mengru，et al.Original error analysis of the second reduction part of RV reducer[J].Journal of Mechanical Transmission，2017，41（9）:11-17.

位云成，张杰.机器人用RV减速器传动误差的测试[J].机械制造与自动化，2016，45（2）:167-169.

WEI Yuncheng，ZHANG Jie.Test of transmission error of RV reducer in robot[J].Machine Building & Automation，2016，45（2）:167-169.

弓宇，周晓菊，徐磊琛，等.机器人用精密减速器传动精度试验方法的研究[J].机械传动，2016，40（8）:134-137.

GONG Yu，ZHOU Xiaoju，XU Leichen，et al.Research of the transmission accuracy test method of precise reducer used in robot[J].Journal of Mechanical Transmission，2016，40（8）:134-137.

郭沛霖.机器人用RV减速器动态传动精度分析[D].重庆:重庆大学，2017:39-87.

GUO Peilin.Analysis of dynamic transmission accuracy for RV reducer in robot[D].Chongqing:Chongqing University，2017:39-87.

吕明帅.RV减速器传动特性的仿真与实验研究[D].哈尔滨:哈尔滨工业大学，2016:40-54.

LÜ Mingshuai.Simulation and experiment study of transmission characteristic of RV reducer[D].Harbin:Harbin institute of Technology，2016:40-54.

肖定坤，谈伟.RV精密减速器的传动误差分析及应用[J].工具技术，2018，52（8）:126-130.

XIAO Dingkun，TAN Wei.Analysis and application of transmission error based on RV precision reducer tool[J].Engineering，2018，52（8）:126-130.

江苏济川创新传动机械研究院有限公司.机器人用精密齿轮传动装置试验方法:GB/T 35089-2018[S].北京:中国标准化出版社，2018.

Jiangsu Jichuan Chuangxin Transmission Mechanical Institute Co.,Ltd,.Precision gear transmission for robot-test method:GB/T 35089-2018[S].Beijing:Standards Press of China,2018.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

⁰