锻压技术

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

英文标题：Analysis and optimization of affecting factors on test time of robot reducer fatigue life test device

作者：程曼邱城李金峰张敬彩孙刚封楠刘红旗

分类号：TH122

出版年,卷(期):页码：2019,44(2):99-106

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.

基金项目：

基金项目:国家科技支撑计划 (2015BAF07B01)

作者简介：程曼（1985-），女，硕士研究生 Email：cm0621@163.com 通讯作者：邱城（1962-），男，博士，研究员 Email：qiuch@pcmi.com.cn

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