【摘要】 随着科学技术的创新与发展,工业机器人在实际生产中的应用越来越广泛。作为衡量RV减速器的重要指标,啮合刚度将直接影响工业机器人的性能。通过分析考虑摆线轮修形对初始间隙及啮合齿数的影响,完善了啮合力的计算公式。根据Hertz接触理论,建立了摆线针轮啮合刚度模型。在此基础上,分析了摆线轮基本齿形参数与啮合力及啮合刚度之间的关系,并通过动力学仿真验证了公式及模型的正确性,对RV减速器啮合刚度的提高具有一定的理论指导作用。更多还原

【Abstract】 With the innovation and development of science and technology,the application of industrial robots is more and more extensive in practical production. As an important indicator to measure the RV reducer,meshing stiffness directly affects the performance of industrial robots. Considering the existence of initial gap and the number of meshing tooth,the formula of meshing force is improved. Based on the Hertz contact theory,the model of meshing stiffness is built. Then,the relationships between the basic tooth profile parameters and the meshing force and the meshing stiffness are obtained. Moreover,the correctness of the formula and the model is verified through dynamics simulations,which provide certain theoretical guidance for the meshing stiffness improvement of RV reducer.更多还原