Load Sharing Characteristics of RV Transmission Mechanism in Robot

Conducting a study on load sharing characteristics among planet gear of RV transmission mechanism in robot, and a meshing error analysis on the eccentricity error, gear thickness error, base pitch error, assembly error, planet carrier error, and bearing manufacturing error of RV transmission mechanism respectively. Considering the floating meshing error resulting from meshing clearance variation caused by the floating of sun gear in RV reducer. This research establishes a refined mathematical model of RV transmission mechanism in robot for 3-split load sharing coefficient calculation in consideration of angular displacement compatibility, obtains the regular curves of load sharing coefficient, floating orbit, and floating displacement, which provides scientific theory evidence for proper tolerance distribution in design.