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以机器人用RV250AII型减速器为研究对象,采用理论模态分析与模态试验相结合的方法对RV减速器进行动态特性研究,首先基于ANSYS建立RV减速器的力学模型并进行理论模态计算,得到RV减速器整机及其摆线轮、行星架的固有频率和相应振型,利用参考点响应数据对RV减速器进行试验模态参数识别,得到了真实环境中整机及摆线轮、行星架的固有频率和相应振型,理论模态参数与试验模态参数的偏差率小于8%。研究表明:用模态分析法可正确地得到RV减速器的动态特性数据,为提高RV减速器的寿命及进一步的动力学特性研究提供了理论依据。
Taking the robot RV250AII reducer as the research object, the dynamic characteristics of the RV reducer were studied by combining the theoretical modal analysis and the modal test. At first, the mechanical model of the RV reducer was established based on ANSYS and the theoretical mode was calculated. Get the RV reducer and its cycloid, the natural frequency of the planetary carrier and the corresponding vibration mode, the use of reference point response data to test the RV reducer modal parameters identified in the real environment machine and cycloid, The natural frequencies and corresponding modes of the planet carrier, the deviation between the theoretical modal parameters and the experimental modal parameters are less than 8%. The research shows that the modal analysis method can get the dynamic characteristic data of RV reducer accurately, which provides a theoretical basis for the research on the life of RV reducer and its further dynamic characteristics.