关键词: 机器人模组, 高载荷, 高接触压力, 微位移法, 摆线轮修形, 应力优化

Abstract: Aiming at the problems of heavy load and high contact pressure of cycloidal gears in robot module,a new profile modification method is proposed based on micro-displacement method. The mechanical equilibrium equations were set up to investigate the load and contact pressure distribution between cycloidal gear and pins. The modification method in this manuscript can significantly reduce the load and contact pressure distribution comparing to the traditional modification methods. The reliability and life of the robot module will be enhanced by applying the new modification method.

Key words: robot module, heavy load, high contact pressure, micro-displacement method, cycloidal gear modification, contact pressure optimization