摘要
针对RV减速器质量的大小对工业机器人手臂的使用寿命及工作精度的不利影响,根据点阵结构成型工艺的限制,文中选择了精度要求不高的针齿壳和行星架作为研究对象,使用点阵结构代替零件内部实体结构,并建立了针齿壳与行星架的点阵优化模型。由于点阵结构不利于有限元分析,需将其等效成实体。通过计算及试验得到点阵结构等效密度、等效弹性模量、等效泊松比、抗压强度和抗弯强度。对等效前后零件进行了静力学分析,得出优化后的零件变形及应力虽有所增加,但增加量较小,依旧在零件许用应力范围内。优化后零件总质量减轻了21.2%,并通过SLM技术打印出输出行星架部分。
In view of the adverse effect of the mass of RV reducer on the service life and working accuracy of industrial robot arm,according to the limitation of the forming process of the lattice structure,the needle-tooth shell and planetary frame with low precision are selected as the research objects.A lattice structure is used to replace the internal solid structure of the parts,and a lattice optimization model of the needle tooth housing and planetarium is established.Because lattice structure is not conducive to finite element analysis,it needs to be equivalent to solid.The equivalent density,the equivalent elastic modulus,the equivalent Poisson's ratio,the compressive strength and the bending strength of the lattice structure are obtained by calculation and test.The static analysis of the equivalent front and rear parts shows that the deformation and stress of the optimized parts increase,but the increase is small and still within the allowable stress range of the parts.After optimization,the total mass of the parts is reduced by 21.2%,and the output planetary frame is printed by SLM technology.
作者
王佳鹏
韩炬
WANG Jiapeng;HAN Ju(School of Mechanical Engineering,North China University of Science and Technology,Tangshan O63210,China)
出处
《机械工程师》
2026年第1期19-24,共6页
Mechanical Engineer
基金
河北省自然科学基金面上项目(E2019209153)
唐山市科技计划项目(22130219G)。
