工业机器人关节减速器关键结构啮合运动仿真

摘要

摆线针轮传动机构是工业机器人关节减速器的关键部件,针对现有研究对摆线针轮传动机构啮合过程中,对摆线轮齿与针齿上啮合点的运动及受力情况缺乏关注的问题,提出了对摆线轮齿进行齿廓离散的仿真思路.通过矢量法建立了同一坐标系下摆线轮与针轮的齿廓方程.应用MATLAB对齿廓方程进行了验证并确定了针齿上参与啮合的范围;基于齿廓方程构件了摆线针轮传动机构的全参模型;应用ADAMS进行运动学及动力学仿真,在摆线轮齿上等距设置了51个marker点,并提取了每个marker点的轨迹曲线及与针齿的接触应力.仿真结果表明,齿廓离散的仿真方法在啮合运动的运行规律研究中直观明了,清晰地揭示了针齿在与摆线轮齿啮合时具有两次接触单次受力的特性.%Few studies have focused on the dynamic characteristics of meshing point on cycloid tooth and pin tooth in meshing process of cycloid pin-wheel drive,which is the key structure of industrial robot joint reducer.The paper proposed a simulation method by dissociating tooth profile of cycloid.The equation of cycloid and pin-wheel in the same coordinate was carried out based on vector method.The scope on pin tooth in meshing was confirmed with MAT-LAB.The dynamic law of meshing points between cycloid tooth and pin tooth was analyzed with ADAMS by means of dissociating tooth profile into 51 markers.The simulation results show that the method of dissociation of tooth profile is valid for analyzing the meshing principle.It can be obviously determined that the given point on pin tooth would mesh twice and have single-pass contact force with cycloid tooth.