Transmission Error Analysis for Industrial Robot RV Reducer

Aiming at the multi-tooth meshing characteristics of cycloid drive on the second level of a RV reducer, the rotation errors of cycloid gear caused by the original errors at the points of each needle teeth meshing with cycloid gear are analyzed and the transmission error of cycloid drive caused by these original errors is calculated according to the principle of action line increment. Then a transmission error analysis model of the RV reducer is established to discuss the influence of each original error on the slewing precision of RV reducer and the transfer process of the original errors of each member. The numerical simulation and test for 320E prototype indicate that the geometrical deviation of shaft hole on the output tray has the greatest effect on the transmission error of RV reducer, the effects of the cycloid gear error and the geometrical deviation of shaft are smaller, and the geometrical deviation of planetary gear has the smallest effect; the effects of the original errors located in the low-level of RV reducer are smaller than the effects of the original errors located in the high-level; the influence of error feedback on the transmission error is very small, but it still cannot be ignored in precision transmission.