Abstract
Transmission efficiency is the key index when concerning characterizing the performance of precision reducers, and it is usually required to be measured and evaluated. Apart from that, the efficiency value at the rated torque in the efficiency curve is taken as the evaluation value of the efficiency characteristics of precision reducers. However, at present, the research on the efficiency characteristics of precision reducers mainly focuses on theoretical analysis, the development of measurement devices and the measurement methods, while the analysis model of the efficiency curve has not yet been established. In this context, from the perspective of transmission efficiency measurement and evaluation of precision reducers, the efficiency calculation model of precision reducers is established in this paper. Besides, based on the essential change law of the efficiency curve, the efficiency curve analysis model is also set up. To be specific, taking a certain type of RV (rotate vector) reducer as an example, the actual measurement experiments are carried out, and the efficiency curves at different speeds are obtained. The results show that the efficiency of the precision reducer is affected by the measured speed and load torque, and has a positive correlation with the load torque and a negative correlation with the speed. Then, it is proved that the efficiency curve model proposed in this paper can accurately describe the change law followed by the efficiency curve of precision reducers, thus laying a theoretical foundation for the efficiency measurement and evaluation of precision reducers.
Highlights
A precision reducer has high positioning accuracy and repetitive positioning accuracy, and is widely used in robotics, aerospace and other fields
The RV reducer is featured with the higher rigidity and is mostly applied to the parts of heavy loads such as the base, arm and shoulder, whereas the harmonic reducer is usually adopted in the forearm, wrist and hand, and the precision planetary reducer is mainly used in Cartesian coordinate robots [2]
The transmission efficiency can be obtained by measuring the input torque and output torque of a precision reducer. – It can be seen from Figures 2 and 3 that within one cycle of the output shaft, the input and output torque of the precision reducer changes periodically, mainly resulting from different forces at different meshing positions inside the precision reducer
Summary
A precision reducer has high positioning accuracy and repetitive positioning accuracy, and is widely used in robotics, aerospace and other fields. Based on different meshing pairs, the precision reducer can fall into the cycloid precision reducer and the non-cycloid precision reducer [1] To be specific, the former includes the RV (rotate vector) and the Twinspin reducer, while the latter involves the harmonic reducer and the precision planetary reducer. Manufacturers of precision reducers usually need to provide the efficiency curve of their products in the sample. The measurement and evaluation of precision reducer efficiency are closely related to the measurement speed and load torque. The correctness of the efficiency curve model is verified through measurement experiments. In this case, the research results in this paper provide a reference for the efficiency measurement and evaluation of precision reducers
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