RV减速器输出机构扭转刚度分析计算-聂松辉

30420148MachineDesignandＲesearchVol．30No．4AUG．201420[e-mail]。ＲV－250AII。。ＲVTH132．46ATheAnalysisandCalculationonTorsionalStiffnessofOutputMechanisminＲVＲeducerNieSonghuiYanYuSchoolofMechanicalEngineeringXiangtanUniversityXiangtan411105ChinaAbstractOutputmechanism＇storsionaldeformationhasasignificantimpactonthetransmissionaccuracyofＲVreducerforitslessaffectedbyreductionratioindrivesystem．TakingtheＲV-250AIIreducerasresearchobjecttheimpactofdeformationfromvariousmechanismsindrivechainontheoveralltransmissionaccuracyisstudied．Ananalysisofthetorsionaldeformationinoutputmechanismbasedonstressfunctionmethodisperformed．Theamountoftorsionaldeformationinoutputmechanismisobtainedbyusingthefiniteelementmethodanditstorsionalstiffnessiscalculated．Theresultsareveryclosetotheexperimentaldataoftheobject．Andalsotheperformanceoftheoutputmechanismincaseofoverloadisassessed．Theresultsofthestudymayprovideareferenceforcalculatingthemachinestiffnessandreducingthetorsionalvibrationduringtherunningtimeofthemachine．KeywordsrvreducertransmissionaccuracystressfunctionmethodfiniteelementmethodtorsionalstiffnessＲV、、、1。ＲV。JG．BLANCHE2ＲV3ＲV456－8。ＲV。ＲV9。1ＲV1。3。1．2．3．4．5．z1－z2－z3－z4－▲1ＲVDOI:10.13952/j.cnki.jofmdr.2014.0088ＲV21i=1/ＲＲ=1+z2·z4/z}112i=－1/Ｒ－121±。2ＲV10。α≤1'。。、、。。▲22M、。jCjθjj≤n－1。j－1jij－1θ=∑nk=1θk∏nj=kij3θk—kik—kk+1。kηkηk=θk∏nj=kijθ44。θＲV=θ1·i+θ2·i2+θ35θ1—θ2—θ3—i2—。θ=TC66。4、6。ＲV。▲33111213。3Tzu=－θyzv=θxzw=θwxy}7θ—wxy—。8τzx=Gθwx()－yτyz=Gθwy()}+x8G—。▲4τxzx+τyzy=09Φxyτzx=Φyτyz=Φ}x10。40Φydyds+Φxdxds=Φs=0xy∈S11Φs。44．1ＲV－250AII156。1ＲV－250AIIz1z2z3z4d1/mmd2/mm21423940126314T/Nmn/r·min－1E/GPaγρ/kg·m－3245015002060．37．85×1031Tn2ρ、E、γ、、。4．21/31/16Workbench524ＲV▲5▲610Solid187mm．kg．N．s。4．3▲71/3Mesh。1/326307147427。▲81/161/1626053149958。4．4。5、6。F1=T/3r1F2=T/16r2。Solve。4．5“uy/r”9、10。910φ1=3．1e－5radφ2=1．3e－5rad。C=T/φC1=1．9e8Nm/radC2=7．9e7Nm/rad。2．4。▲91/3▲101/162。2Nm/rad1．9e87．9e71．8e88．5e75．3%7．5%4．6ＲVT5θmax=5T/C1=1．6e－4rad=0．55'ＲV。512Workbench34。1．ＲVD．2010．2YANGDCHBLANCHEJG．DesignandapplicationguidencesforcycloiddriveswithmachiningtolerancesJ．Mech．Mach．Theory1990255487～501．3．K－H－V1J．C199460570645～653．3062308ax8by。▲8▲949、。5、。1McGeerT．PassivedynamicwalkingJ．InternationalJournalofＲoboticsＲesearch19909262～82．2SCollinsAＲuinaＲTedrakeetal．Wisse．EfficientBipedalＲo-botsonPassive-DynamicWalkersJ．Science200530757121082～1085．3MGarciaAChatterjeeAＲuina．Efficiencyspeedandscalingoftwo-dimensionalpassive-dynamicwalkingJ．DynamicsandSta-bilityofSystems200015275～99．4．J．2007293274～280．5．D．2008．6．J．2005631～33．7．J．20068106～108．8．D．2007．9．M．2008．10．M．1999．11DuanWenjie．Simulationresearchofpassivedynamicwalkerwithroundfeetbasedonnon-smoothmethodJ．ChineseJournalofTheoreticalandAppliedMechanics201143765～774．12YongXu．Dynamicsimulationofapassivewalkingrobotwithfric-tionandimpactC//AdvancedMaterialsＲesearchZhangJiajie2013．1987－2欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁欁。264．ＲVJ．1999949～50．5．J．2006181～85．6．J．200791039～1043．7．2K－VJ．2007681～86．8．2K－VJ．200791135～1140．9．J．20135523～526．10．ＲVD．2012．11．J．20044419～426．12．J．1989125～29．13．J．20071141～46．1968－30。0330