I. M. Egorov, S. A. Aleksanin, M. E. Fedosovsky, N. P. Kryazheva

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For citation: Работа подготовлена по результатам НИОКРТ «Создание высокотехнологичного производства прецизионных быстродействующих силовых электромеханических приводов нового поколения» в Университете ИТМО, при финансовой поддержке Министерства образования и науки Российской Федерации согласно постановлению Правительства Российской Федерации от 9 апреля 2010 г. № 218 «О мерах государственной поддержки развития кооперации российских высших учебных заведений, государственных научных учреждений и организаций, реализующих комплексные проекты по созданию высокотехнологичного производства».

Theoretical background for calculation of k-h-v type cycloid reducers was developed relatively long ago. However, recently the matters of cycloid reducer design again attracted heightened attention. The reason for that is that such devices are used in many complex engineering systems, particularly, in mechatronic and robotics systems. The development of advanced technological capabilities for manufacturing of such reducers today gives the possibility for implementation of essential features of such devices: high efficiency, high gear ratio, kinematic accuracy and smooth motion. The presence of an adequate mathematical model gives the possibility for adjusting kinematic accuracy of the reducer by rational selection of manufacturing tolerances for its parts. This makes it possible to automate the design process for cycloid reducers with account of various factors including technological ones. A mathematical model and mathematical technique have been developed giving the possibility for modeling the kinematic error of the reducer with account of multiple factors, including manufacturing errors. The errors are considered in the way convenient for prediction of kinematic accuracy early at the manufacturing stage according to the results of reducer parts measurement on coordinate measuring machines. During the modeling, the wheel manufacturing errors are determined by the eccentricity and radius deviation of the pin tooth centers circle, and the deviation between the pin tooth axes positions and the centers circle. The satellite manufacturing errors are determined by the satellite eccentricity deviation and the satellite rim eccentricity. Due to the collinearity, the pin tooth and pin tooth hole diameter errors and the satellite tooth profile errors for a designated contact point are integrated into one deviation. Software implementation of the model makes it possible to estimate the pointed errors influence on satellite rotation angle error and reasonable selection of accuracy parameters for technological processes related to reducer parts manufacture. Additionally, it gives the possibility for estimation of the reducer kinematic error according to measurements by means of a coordinate measuring machine and diagnostics of reducer parts manufacturing errors by means of its kinematogram analysis. The model is implemented as a program developed in Microsoft Visual C++ 6.0 environment. Obtained results have found their application in CAD of cycloid reducers.

Keywords: modeling, planetary gearbox, pin-gear drive, cycloid gear, kinematic accuracy, manufacturing error

Acknowledgements. The paper has been prepared as a result of R&D work "Creating of high-tech production of precision high-performance forceful brand-new electromechanical actuators " in ITMO University, under financial support from the Russian Federation Ministry of Education and Science, according to the enactment of the Russian Federation Government dated April 9, 2010 № 218 "Measures of state support for development of cooperation between Russian universities, research organizations and companies which implement complex projects for high-tech production".

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