Study on Torsional Vibration of RV Reducer Based on Time-Varying Stiffness

Abstract

Purpose

The torsional vibration of RV reducer is the key factor affecting the positioning accuracy and trajectory accuracy of industrial robots. It is of great significance to study the torsional stiffness periodic fluctuation and parametric torsional vibration to improve the torsional vibration performance and transmission accuracy of RV reducer.

Methods

Based on the torsional stiffness test device of RV reducer, the torsional stiffness is measured and the torsional stiffness curve with periodic fluctuation is obtained. The trigonometric function fitting and mathematical description of torsional stiffness curve are carried out, and the torsional vibration equation of RV reducer parameters is established. The parametric torsional vibration response of RV reducer is simulated by Runge–Kutta method, and the combined frequency characteristics and system stability are analyzed. The torsional vibration test device of RV reducer is developed to study the torsional stiffness fluctuation and torsional vibration fault.

Results

The torsional stiffness fluctuation of RV reducer can be divided into a short period and long period, corresponding to different manufacturing errors, and the mechanism of torsional stiffness fluctuation is found out. The frequency spectrum of torsional vibration under working condition is highly consistent with the simulated response spectrum, and the harmonic resonance interval obtained by frequency sweeping is close to the peak of the torsional vibration–speed curve, so the correctness of the established torsional vibration model is verified. Using the mechanism of RV reducer stiffness fluctuation to realize rapid diagnosis of defective parts of RV reducer has a strong engineering application value.

Conclusion

The time-varying torsional stiffness of RV reducer will cause the phenomenon of parametric torsional vibration. The vibration response characteristic frequency is a linear combination of internal reference variation frequency and external excitation frequency. The parametric torsional vibration will cause the harmonic resonance of RV reducer and aggravate the torsional vibration. Therefore, it is of great engineering value to study the time-varying torsional stiffness and torsional vibration of RV reducer.

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Acknowledgements

The authors would like to acknowledge the support of the Chinese National Natural Science Foundation (51575330) and the support and cooperation of Nantong Zhen Kang Welding Electromachinery Co. Ltd.

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Correspondence to Dishan Huang.

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Wang, S., Tan, J., Gu, J. et al. Study on Torsional Vibration of RV Reducer Based on Time-Varying Stiffness. J. Vib. Eng. Technol. (2020). https://doi.org/10.1007/s42417-020-00211-8

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Keywords

  • RV reducer
  • Time-varying torsional stiffness
  • Parametric torsional vibration
  • Vibration spectrum
  • Property of torsional vibration–speed