变齿厚RV减速器是一种高性能精密传动装置，其动态特性对整机性能有重要影响。本文根据变齿厚RV减速器传动原理及结构特点，从系统角度出发，考虑轮齿的时变啮合刚度、轴承刚度、碟簧刚度、阻尼和传递误差等因素，基于Lagrangian方程，建立了耦合两级传动的整机弯-扭-轴耦合动力学模型。对样机的动态啮合力、构件动态响应及传动误差等特性进行了分析，研究了参数变化对这些性能指标的影响规律。研究结果可为变齿厚RV减速器的动态特性分析及优化提供理论依据。
Abstract
Variable tooth thickness rotating vector(RV) reducer is a kind of precision transmission device with high performance, and its dynamic characteristics have an important influence on the performance of the whole machine. Here, according to the variable tooth thickness RV reducer’s transmission principle and its structural features, starting from a system perspective, the whole machine’s bending-torsion-axial coupled dynamic model with coupled two-stage transmission was established based on Lagrange equation considering time-varying gear teeth meshing stiffness, bearing stiffness, disc spring stiffness, damping and transmission error(TE), etc. Using the built dynamic model, the dynamic characteristics of the prototype, such as, dynamic meshing force, component dynamic responses and transmission error were analyzed to study influence laws of varying of parameters on these performance indexes. The study results provided a theoretical basis for dynamic characteristics analysis and optimization of variable tooth thickness RV reducers.
关键词
变齿厚RV减速器 /
动态特性 /
少齿差传动 /
传动误差
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Key words
variable tooth thickness RV reducer /
dynamic characteristics /
small tooth difference transmission /
transmission error (TE)
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