Torsional Stiffness Analysis Based on Lagrangian Method for Precision Rotary Vector Reducer with Involute Variable Tooth Thickness

The precision rotary vector reducer with involute variable tooth thickness (PRVT) is a high-performance transmission device, which very suitable for aerospace, medical machinery, industrial robots, automation equipment, and other fields, its torsional stiffness an important performance index. This paper establishes dynamics model of the whole machine based on Lagrangian method by considering gear meshing stiffness, damping, machining errors, influence different errors dynamic studied. results show that increasing distribution circle radius error crankshaft, crank angle crankshaft bearing hole carrier will cause peak-to-peak to increase. Therefore, should be controlled within reasonable range improve machine’s stability. An increase in rotation No. 1 beveloid has no notable impact value average stiffness. Similarly, significant effect research provide useful reference analysis PRVT.