中文摘要：

以工业机器人普遍采用的RV减速器为研究对象,通过考虑RV减速器第一级传动中太阳轮和行星轮变形,第二级传动中针齿壳、针齿、摆线轮、曲柄轴承滚子和曲柄轴变形,针齿和针齿孔加工误差,曲柄轴承间隙及摆线轮与针齿间啮合侧隙,基于有限元法,利用ANSYS APDL建立RV减速器参数化有限元装配模型。通过有限元仿真分析得出各因素综合作用下摆线轮齿受力分布及各齿受力大小,总结出摆线轮轮辐结构变形对摆线轮受力的影响规律,为RV减速器摆线轮结构参数优化提供依据。

英文摘要：

Taking the RV reducer which is widely used in industrial robots as the research object, considering the deformation of the sun gear and planetary gears in the first stage, the de- formation of the needle shell, needle, cycloidal gears, crank bearing rollers and crankshaft in the second stage, machining errors of the needle and needle hole, crank bearing clearance and meshing backlash between cyeloidal gear and pin gear, ANSYS APDL was used to establish the parametric finite element assembly model of the RV reducer based on the finite element method. Through the finite element simulation analysis, the force distribution of the cycloidal gear teeth and the force of each tooth are obtained under the combined effects of each factor, and the influence of the deformation of the eyeloidal spoke on the force of the cycloidal gear is summarized, which provides the basis for the optimization of the structural parameters of the cycloidal gear in the RV reducer.