RV减速器5自由度纯扭转模型非线性特性分析

为了研究旋转向量（RV）减速器中非线性因素对系统动态特性的影响，以集中质量块代替各部件，以弹簧连接表述各部件间的关系，采用达朗贝尔原理和微位移思想，建立简化的5自由度纯扭转RV减速器动力学模型.对模型动力学方程进行坐标变换和无量纲化处理，并采用结合时间离散法的龙格-库塔法求解此非线性时变方程，得到系统在启动和稳定过程中各部件的动态响应曲线以及整体传动误差和对应频谱图.研究传动过程中多种非线性因素对系统动态特性的影响，并搭建RV减速器动力性能综合检测实验平台，得到在输入轴转速为10 r/min，行星架负载为30 N·m情况下的系统传动误差和对应频谱图.实验结果与理论结果较为一致，说明纯扭转模型建立和求解正确，为RV减速器动力学发展提供一定理论基础.
Abstract: In order to study the effect of nonlinear factors on dynamic characteristics of rotate vector (RV) reducer, components of RV reducer were replaced by concentrated masses, the relationship between components were expressed with spring connections. RV reducer system was simplified and a 5-degree-of-freedom pure torsional dynamic model was established by the principle of D'Alembert and micro-displacement method. The dynamic equations were changed through coordinate transformation and dimensionless method. Lunge-Kutta method combined with time-discrete method were used to solve the nonlinear time-varying equations. Dynamic response curves of the system under start-up and stable period and transmission error curve with corresponding spectrum were obtained. The effects of various nonlinear factors on dynamic characteristics of the system during transmission process were studied. A dynamic performance testing platform was built, and experimental transmission error curve and corresponding response spectrum under the condition of 10 r/min input and 30 N·m load were obtained. The experimental results were in agreement with the theoretical results which indicated that the pure torsional model was established and solved correctly. The work provides a theoretical basis for RV reducer dynamics development at some extent.