机器人减速器疲劳寿命测试装置测试时间的影响因素分析与优化
|
摘要
机器人减速器内部零部件所受载荷为非对称周期性变载荷,通过采用惯量负载构件模拟机器人机械臂,研究了模拟实际工况的机器人减速器疲劳寿命测试技术。根据疲劳等效理论,基于机器人减速器疲劳寿命测试装置,建立了加速疲劳寿命试验的基本方法,分析了影响疲劳寿命测试时间的主要因素。结果表明,转动惯量影响角加速度,角加速度影响最佳摆动角度与摆动位置,进而影响测试时间。通过优化惯量负载构件的转动惯量、角加速度、摆动角度和摆动位置,优化了加速疲劳寿命试验的测试时间,为机器人减速器疲劳寿命测试装置的合理设计提供了理论支撑。
The loads on the internal parts of robot reducer are asymmetric periodic variable loads. Therefore,the robot manipulator was simulated by the inertia load component,and the fatigue life test technology of the robot reducer simulating the actual conditions was studied. According to the fatigue equivalent theory,the basic method of the accelerated fatigue life test was established by the fatigue life test device of the robot reducer,and the main factors affecting the test time of the fatigue life were analyzed. The results show that the moment of inertia affects the angular acceleration,which affects the optimal swing angle and position to affect the test time. Furthermore,the test time of the accelerated fatigue life test is optimized by optimizing the moment of inertia,angular acceleration,swing angle and swing position of the inertia load component,which provides theoretical support for the reasonable design of the fatigue life test device for the robot reducer.
The loads on the internal parts of robot reducer are asymmetric periodic variable loads. Therefore,the robot manipulator was simulated by the inertia load component,and the fatigue life test technology of the robot reducer simulating the actual conditions was studied. According to the fatigue equivalent theory,the basic method of the accelerated fatigue life test was established by the fatigue life test device of the robot reducer,and the main factors affecting the test time of the fatigue life were analyzed. The results show that the moment of inertia affects the angular acceleration,which affects the optimal swing angle and position to affect the test time. Furthermore,the test time of the accelerated fatigue life test is optimized by optimizing the moment of inertia,angular acceleration,swing angle and swing position of the inertia load component,which provides theoretical support for the reasonable design of the fatigue life test device for the robot reducer.
引文
[1]黄兴,何文杰,符远翔.工业机器人精密减速器综述[J].机床与液压,2015,43(13):1-6.Huang X,He W J,Fu Y X. Summary of precision speed reducerof industrial robots[J]. Machine Tool and Hydraulic,2015,43(13):1-6.
[2]李兵,杜俊伟,陈磊,等.工业机器人RV减速器传动误差分析[J].西安交通大学学报,2017,51(10):1-6,46.Li B,Du J W,Chen L,et al. Transmission error analysis of in-dustrial robot RV reducer[J]. Journal of Xi'an Jiaotong Universi-ty,2017,51(10):1-6,46.
[3]张杰,万化云,史翔,等. RV减速器回差分析与实验测试研究[J].机械传动,2017,41(6):134-137,142.Zhang J,Wan H Y,Shi X,et al. Research of the backlash analy-sis and experimental test for RV reducer[J]. Journal of Mechani-cal Transmission,2017,41(6):134-137,142.
[4] Boguski B,Kahraman A,Nishino T. A new method to measureplanet load sharing and sun gear radial orbit of planetary gear sets[J]. Journal of Mechanical Design,2012,134(7):169-180.
[5] Yoo Y,Do H,Park C,et al. Accelerated life calculation for har-monic reduction of robot arm using Weibull Distriution[J]. In-ternational Conference on Ubiquitious Robots&Ambient Intelli-gence,2012,60(1):601-603.
[6] Ostapski W. Analysis of the stress state in the harmonic drive gen-erator flexspline system in relation to selected structural parametersand manufacturing deviations[J]. Technical Sciences,2011,58(4):683-698.
[7]朱丙峰,雷晓春.基于ADAMS的RV减速器主轴承曲率半径系数优化[J].机械传动,2015,39(10):82-85,89.Zhu B F,Lei X C. Optimization of curvature radius coefficient ofRV reducer main bearing based on ADAMS[J]. Journal of Me-chanical Transmission,2015,39(10):82-85,89.
[8]张振强,王东峰,刘胜超,等. RV减速器用轴承的受力分析[J].轴承,2016,(10):1-3.Zhang Z Q,Wang D F,Liu S C,et al. Force analysis of bear-ings for RV reducer[J]. Bearing,2016,(10):1-3.
[9]王文涛,徐宏海. RV减速器曲柄轴承的工况分析及改善方法[J].机械设计与制造,2016,(10):128-131.Wang W T,Xu H H. The working condition analysis and the im-provement method of RV reducer's crank bearing[J]. Mechani-cal Design&Manufacture,2016,(10):128-131.
[10]张福星,郑源,汪清,等.基于ANSYS Workbench的深沟球轴承接触应力有限元分析[J].机械设计与制造,2012,(10):222-224.Zhang F X,Zheng Y,Wang Q,et al. Contact stress FEM anal-ysis of deep groove ball bearing based on ANSYS workbench[J].Mechanical Design&Manufacture,2012,(10):222-224.
[11]李俊阳,王家序,范凯杰,等.谐波减速器黏着磨损失效加速寿命模型研究[J].摩擦学学报,2016,36(3):297-303.Li J Y,Wang J X,Fan K J,et al. Accelerated life model forharmonic drive under adhesive wear[J]. Tribology,2016,36(3):297-303.
[12]陆博.基于加速退化试验的RV减速器寿命预测方法[D].哈尔滨:哈尔滨理工大学,2017.Lu B. Research on Life Prediction for RV Reducer Based on Accel-erated Degradation Testing[D]. Harbin:Harbin University ofScience and Technology,2017.
[2]李兵,杜俊伟,陈磊,等.工业机器人RV减速器传动误差分析[J].西安交通大学学报,2017,51(10):1-6,46.Li B,Du J W,Chen L,et al. Transmission error analysis of in-dustrial robot RV reducer[J]. Journal of Xi'an Jiaotong Universi-ty,2017,51(10):1-6,46.
[3]张杰,万化云,史翔,等. RV减速器回差分析与实验测试研究[J].机械传动,2017,41(6):134-137,142.Zhang J,Wan H Y,Shi X,et al. Research of the backlash analy-sis and experimental test for RV reducer[J]. Journal of Mechani-cal Transmission,2017,41(6):134-137,142.
[4] Boguski B,Kahraman A,Nishino T. A new method to measureplanet load sharing and sun gear radial orbit of planetary gear sets[J]. Journal of Mechanical Design,2012,134(7):169-180.
[5] Yoo Y,Do H,Park C,et al. Accelerated life calculation for har-monic reduction of robot arm using Weibull Distriution[J]. In-ternational Conference on Ubiquitious Robots&Ambient Intelli-gence,2012,60(1):601-603.
[6] Ostapski W. Analysis of the stress state in the harmonic drive gen-erator flexspline system in relation to selected structural parametersand manufacturing deviations[J]. Technical Sciences,2011,58(4):683-698.
[7]朱丙峰,雷晓春.基于ADAMS的RV减速器主轴承曲率半径系数优化[J].机械传动,2015,39(10):82-85,89.Zhu B F,Lei X C. Optimization of curvature radius coefficient ofRV reducer main bearing based on ADAMS[J]. Journal of Me-chanical Transmission,2015,39(10):82-85,89.
[8]张振强,王东峰,刘胜超,等. RV减速器用轴承的受力分析[J].轴承,2016,(10):1-3.Zhang Z Q,Wang D F,Liu S C,et al. Force analysis of bear-ings for RV reducer[J]. Bearing,2016,(10):1-3.
[9]王文涛,徐宏海. RV减速器曲柄轴承的工况分析及改善方法[J].机械设计与制造,2016,(10):128-131.Wang W T,Xu H H. The working condition analysis and the im-provement method of RV reducer's crank bearing[J]. Mechani-cal Design&Manufacture,2016,(10):128-131.
[10]张福星,郑源,汪清,等.基于ANSYS Workbench的深沟球轴承接触应力有限元分析[J].机械设计与制造,2012,(10):222-224.Zhang F X,Zheng Y,Wang Q,et al. Contact stress FEM anal-ysis of deep groove ball bearing based on ANSYS workbench[J].Mechanical Design&Manufacture,2012,(10):222-224.
[11]李俊阳,王家序,范凯杰,等.谐波减速器黏着磨损失效加速寿命模型研究[J].摩擦学学报,2016,36(3):297-303.Li J Y,Wang J X,Fan K J,et al. Accelerated life model forharmonic drive under adhesive wear[J]. Tribology,2016,36(3):297-303.
[12]陆博.基于加速退化试验的RV减速器寿命预测方法[D].哈尔滨:哈尔滨理工大学,2017.Lu B. Research on Life Prediction for RV Reducer Based on Accel-erated Degradation Testing[D]. Harbin:Harbin University ofScience and Technology,2017.