RV传动机构精度分析

以一类含渐开线和摆线的二级封闭式行星传动机构即RV（rotate vector）机构为对象，基于作用线增量原理，应用误差分析的传递矩阵法，研究了机构中各构件的原始误差在整个传动过程中对机构输出转角误差的影响规律，建立了适用于该机构精度分析的误差模型．该模型建立了各构件原始误差与机构输出误差的解析对应关系，揭示了机构中共用构件（曲柄轴等）的误差传递过程，以及由于固连输出盘与系杆导致的机构反馈误差与各构件原始误差的耦合关系，为该类机构的精度分析与设计提供了可靠的理论依据．最后，以RV320S型减速器为例，进行实例验算．结果表明，对机构输出转角误差影响最大的是输出盘上曲柄轴孔偏心误差，其次是摆线轮齿廓误差；机构的反馈误差对于高精密RV传动系统也不应忽视．

Precision Analysis of RV Transmission Mechanism

In this paper, a two closed planetary transmission mechanism, the rotate vector （RV） mechanism, which consists of involute gears and cycloidal gear is taken as a research object. Based on the incremental principle of the force action line, the effect of the original errors of components throughout the transmission process on the output an- gular error of mechanism is analyzed by using error transferring matrix. An applicable error model is established for the mechanism error analysis. This model presents the analytical corresponding relationship between the original er- rors of components and the mechanism output error. Furthermore, the error transfer process of the common compo- nents such as the crank shaft and the coupling relationship between the feedback-error and geometric errors caused by fixing the output tray and the tie bar is revealed, which offers a reliable theory in precision analysis and mechanism design. Finally, the RV320S reducer is used as an example to illustrate the effectiveness of this model. The results in- dicate that the most influential factor for the output error is the eccentric error of the crank shaft hole on the output disk, followed by the error of cycloid tooth profile; that the feedback-error is a remarkable factor for machining high precision RV transmission mechanism.