国外文献 > 1.轴承 > 1. 基础理论与机制 > 动力学与稳定性
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| 标 题： |
A dynamic approach for evaluating the moment rigidity and rotation precision of a bearing-planetary frame rotor system used in RV reducer
用于RV减速器的轴承-行星齿轮架转子系统的动态方法，用于评估其弯矩刚度和旋转精度 |
| 作 者： |
Xie, Yun Hong
Xu, Li Xin
Deng, Yun Qing |
| 关键词： |
RV reducer [RV减速器]
Dynamics [ 动力学]
Rotor bearing system [ 转子轴承系统]
Moment rigidity [ 瞬时刚度]
Rotation precision [ 旋转精度]
BALL-BEARINGS [ 滚珠轴承]
CLEARANCE [ 清仓特惠]
STIFFNESS [ 刚性] |
| 出版年： |
2022 |
| 期刊名： |
Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods
机构与机器理论：机械系统动力学、齿轮与动力传动、机器人与机械臂系统、计算机辅助设计方法 |
| 年卷期： |
2022, vol.173 |
| 摘 要： |
The rotating vector reducer (RV reducer) is widely used in joint transmission of industrial robots. The moment rigidity and rotation precision of the non-standard angular contact ball bearings planetary frame rotor system (BPFRS) in the RV reducer have a significant impact on the service performance of industrial robots. This paper presents an improved dynamic model to study the moment rigidity and rotation precision of the BPFRS. The proposed model optimizes the theoretical method for calculating balls-races contact deflection and contact angle, which can more precisely describe the locus of the inner race groove curvature center. Furthermore, a moment rigidity test experiment is designed to verify the accuracy of the proposed model. On the basis, effects of different load conditions, axial preload displacement, numbers of balls, and combinations of inner and outer race groove curvature radius coefficients on moment rigidity and rotation precision of the BPFRS are analyzed, respectively. The results show that these factors have a significant effect on moment rigidity and rotation precision. Besides, dynamic characteristics of the spatial rotation trajectory of the reducer center are obtained.
旋转矢量减速器（RV减速器）广泛应用于工业机器人的关节传动系统中。RV减速器中非标角接触球轴承行星架转子系统（BPFRS）的刚度和旋转精度对工业机器人的运行性能具有显著影响。本文提出一种改进的动态模型，用于研究BPFRS的刚度和旋转精度。所提出的模型优化了计算滚珠-轨道接触挠度和接触角的理论方法，能够更精确地描述内圈槽曲率中心轨迹。此外，设计了一组刚度测试实验以验证该模型的准确性。在此基础上，分别分析了不同载荷条件、轴向预紧位移、滚珠数量以及内、外圈槽曲率半径系数组合对BPFRS刚度和旋转精度的影响。结果表明，这些因素对刚度和旋转精度均具有显著影响。此外，还获得了减速器中心空间旋转轨迹的动态特性。 |
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