Abstract
Dynamic characteristic significantly affects performance of RV reducer. The current researches mainly pay attention to free vibration properties of RV reducer. In order to satisfy the increasing demand on high performance, response sensitivity is analytically studied on the basis of cyclic symmetry structure. Based on the structure characteristics, a dynamic model is developed by taking into account the influence of bearing stiffness, crankshaft bending stiffness and mesh stiffness within planetary and cycloidal stages. For the model, governing equation of motion is derived and solved by Fourier series method. The solution revealed that forced vibrations at primary frequency are well defined structural. There exist three typical forced vibration modes: rotational, translational and planetary component modes. Response sensitivity to basic design parameters is obtained as closed-form expressions by differential method. With the typical vibration modes, response sensitivity is simplified and classified into three types. Calculation of sensitivity implies that vibrations of the output wheel are sensitive to eccentricity. As eccentricity increases, sensitivity of translation decreases first and then increases, but sensitivity of rotation always increases. The proposed method for analyzing response sensitivity provides some principles for selecting parameters for RV reducer from the point of view of forced vibration.
Highlights
RV reducer is widely used in industrial robots due to the advantages such as compact structure, multi-teeth meshing and high carrying capacity, large transmission ratio and high transmission efficiency
Zhang et al [3, 4] formulated a dynamic model of RV reducer which considered mesh and bearing stiffness
The objective of this paper is to analytically study response sensitivity to parameters of RV reducer on the basis of cyclic symmetry structure
Summary
RV reducer is widely used in industrial robots due to the advantages such as compact structure, multi-teeth meshing and high carrying capacity, large transmission ratio and high transmission efficiency. The sun, planets, crankshafts, cycloid gear and output The dynamic response of the τth freedom is wheel can be derived.
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