【摘要】：RV減速器是在一般的擺線針輪減速器的基礎(chǔ)上開發(fā)研制出來的一種二級減速裝置,目前已經(jīng)廣泛應(yīng)用于工業(yè)機器人等精密傳動領(lǐng)域中。隨著現(xiàn)代機械行業(yè)的迅速發(fā)展,實際工程中對RV減速器的高速、高效、運動平穩(wěn)的性能要求也不斷提高。因此對其進行動態(tài)特性分析以及實驗研究具有重要意義。本文采用有限元軟件和虛擬樣機技術(shù),在理論的傳動特性分析,整機的有限元模態(tài)分析、動態(tài)模擬仿真分析以及實驗測試方面展開了對RV減速器的動態(tài)特性研究。主要完成以下工作:基于RV減速器的工作原理及特點,分析其傳動過程,研究關(guān)鍵零部件的受力情況,理論計算出各傳動零部件的轉(zhuǎn)速、嚙合頻率以及擺線輪和針齒之間接觸的嚙合作用力。結(jié)合SolidWorks和ANSYS Workbench軟件,建立特定型號RV減速器各構(gòu)件的三維實體模型,并完成虛擬裝配和減速器整機的有限元模態(tài)分析。得出系統(tǒng)的固有頻率以及對應(yīng)的振型,分析各階的振型以及關(guān)鍵部位的變形情況。利用Adams軟件,建立RV減速器的虛擬樣機模型,完成了動力學(xué)模擬仿真。研究各傳動構(gòu)件的角速度、角加速度以及擺線輪與針齒之間接觸產(chǎn)生的嚙合力隨時間變化的規(guī)律,并且分析載荷對減速器振動的影響。通過RV減速器綜合測試平臺,對其振動特性進行實驗測試,得出不同工況下RV減速器的加速度響應(yīng)隨時間變化的曲線,并通過快速傅里葉變換得到相應(yīng)的頻域圖。通過對RV減速器理論、模態(tài)、仿真以及實驗分析,完成了對其動態(tài)特性的研究。有限元模態(tài)分析結(jié)果得出,該RV減速器在正常工況下不會出現(xiàn)共振現(xiàn)象,動態(tài)性能良好。動態(tài)仿真分析結(jié)果顯示,在穩(wěn)定傳動階段,關(guān)鍵構(gòu)件的角速度、角加速度以及擺線輪與針齒間的嚙合力均呈現(xiàn)周期性的正弦規(guī)律變化,并且與理論分析相吻合,證明了RV虛擬樣機模型的合理可靠性。最后由振動測試實驗得出減速器加速度響應(yīng)的時域和頻域圖表明,負載在一定程度上抑制了減速器的振動,頻域圖上的峰值對應(yīng)了理論嚙合頻率,驗證了仿真與理論分析的正確性。
[Abstract]:RV reducer is a kind of two-stage deceleration device developed on the basis of general cycloidal needle wheel reducer, which has been widely used in the field of precise transmission such as industrial robot. With the rapid development of modern machinery industry, the performance requirements of RV reducer in practical engineering such as high speed, high efficiency and steady movement are also improved. Therefore, it is of great significance to analyze its dynamic characteristics and to study it experimentally. In this paper, using finite element software and virtual prototyping technology, the dynamic characteristics of RV reducer are studied in the aspects of theoretical transmission characteristic analysis, finite element modal analysis of the whole machine, dynamic simulation analysis and experimental test. The main work is as follows: based on the working principle and characteristics of RV reducer, the transmission process is analyzed, the stress of key parts is studied, and the rotational speed of each transmission part is calculated theoretically. Meshing frequency and engagement force between cycloid wheel and needle tooth. Combined with SolidWorks and ANSYS Workbench software, the 3D solid model of each component of specific type RV reducer is established, and the finite element modal analysis of virtual assembly and reducer is completed. The natural frequencies and corresponding modes of the system are obtained, and the vibration modes of each order and the deformation of the key parts are analyzed. Using Adams software, the virtual prototype model of RV reducer is established, and the dynamics simulation is completed. The changes of angular velocity, angular acceleration and contact force between cycloid wheel and needle tooth with time are studied, and the influence of load on the vibration of reducer is analyzed. The vibration characteristics of RV reducer are tested by the synthetic test platform. The curve of acceleration response of RV reducer with time is obtained under different working conditions, and the corresponding frequency domain diagram is obtained by fast Fourier transform. The dynamic characteristics of RV reducer are studied by means of theoretical, modal, simulation and experimental analysis. The results of finite element modal analysis show that the RV reducer does not exhibit resonance under normal working conditions and its dynamic performance is good. The dynamic simulation results show that the angular velocity, angular acceleration and the engagement force between cycloid wheel and needle teeth all show periodic sinusoidal changes in the stable transmission stage, which are consistent with the theoretical analysis. The reasonable reliability of RV virtual prototype model is proved. Finally, the time domain and frequency domain diagrams of the acceleration response of the reducer are obtained from the vibration test results. It is shown that the vibration of the reducer is restrained to some extent by the load, and the peak value in the frequency domain corresponds to the theoretical meshing frequency. The correctness of simulation and theoretical analysis is verified.
【學(xué)位授予單位】：河南科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TH132.46

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