摘要
摆线针轮减速器作为机器人关节减速器,具有体积小、输出转矩大的特点。设计了一种摆线针轮减速器,该减速器采用"卧枕式"针齿结构代替了悬臂式针齿结构,具有结构紧凑、强度高等优点。利用遗传算法对减速器的结构进行了优化。建立了体积最小、质量最轻和传动效率最高的目标函数,根据赫兹公式等推导得到了相关约束条件。在此基础上,完成了对减速器关键结构参数的优化,并运用有限元方法进行了仿真分析。仿真分析结果表明,所设计的摆线针轮减速器满足设计要求,优化方法有效,具有工程应用价值。
The cycloid pin gear reducer has the characteristics of small size, large output torque, and widely used in robotic joints. A set of equations is presented to optimize the cycloid pin gear reducer with pillow needle tooth structure instead of the cantilever type tooth structure, which is of compact and high strength. A genetic algorithm is used to optimize the structural parameters of reducer. The smallest volume, minimum mass and maximum efficiency are set as objective functions, the relevant constraints conditions are derived on the basis of Hertz formula, etc. On this basis, the optimization of reducer key structure parameter is carried out, and the simulation analysis is carried out by using the finite element method. The results show that the reducer meets the design requirements, the optimization is valid and valuable on engineering application.
出处
《机械传动》
CSCD
北大核心
2017年第3期155-159,165,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(11302222)
中国科学院长春光学精密机械与物理研究所创新基金(Y4CX1SS141)
关键词
摆线针轮减速器
遗传算法
结构优化
接触分析
Cycloid pin gear reducer Genetic algorithm Structural optimization Contact analysis
