Abstract
The profile design of cycloid disk in cycloidal steel ball reducer is the core of reducer design, which directly affects the performance of reducer. The cycloidal ball reducer is driven by a certain number of steel balls in a tooth profile composed of a pair of intermeshing internal and external cycloidal lines. The performance of the reducer can be optimized by adjusting the design equation of the cycloidal disc type line. However, in the process of design and optimization, the requirement of freedom and controllability of cycloid is getting higher and higher. The traditional design method of cycloidal profile based on cycloid parameter equation can no longer meet the requirements of design. The NURBS method can accurately represent the free curve and the conic quadratic curve. The cycloidal profile is actually a complex curve composed of a certain number of arcs. In this paper, the NURBS curve is applied to the design of cycloid disk of reducer, and the cycloidal profile based on NURBS is deeply studied. By sampling the known cycloidal profile, the sample point, the inverse control point, the weight factor, the node vector and the sample point are obtained, and the analysis verifies that the error between the fitted NURBS curve and the original curve is within the feasible range. Taking the BR85us-10G-6 reducer as an example, the fitting curve of the inner cycloid disk profile is obtained by using cubic NURBS curve, which can improve the flexibility and local adjustment of the cycloidal disc profile design.
Highlights
Reducer is an important part of industrial production, especially in industrial robot industry
NUBRS curve firstly requires obtaining the data of the 25 original profile, and using the control points and weight factor of the profile, the endpoint of the profile is used as 20 the node of the NURBS curve
When the cubic NURBS curve is used to express a series of data points on the measured cycloidal disk profile, the control points of the NURBS curve must be inversely calculated according to the node vectors determined by the type points on the curve
Summary
Reducer is an important part of industrial production, especially in industrial robot industry. Cycloidal steel ball reducer is a kind of cycloidal meshing high-end precision transmission device. It has the advantages of large transmission ratio, compact structure, high transmission efficiency and especially without backlash. Cycloidal steel ball planetary transmission mechanism is essentially a kind of two-tooth difference K-H-V planetary transmission device. This deceleration drive mechanism transmits motion and power through steel ball, and the tooth profile of steel ball motion is formed by meshing the inner and outer cycloids [2]. The theoretical tooth profile curve of deceleration mechanism is a pair of meshing inner and outer cycloid of short amplitude. The number of teeth generated by the inner cycloid is defined as Eq (2), and the motion track of the M ' point is the inner cycloid
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