Stability Analysis of RV Reducers of Mobile Manipulator System

RV reducers are widely recognized in mobile manipulators due to their advantages, such as high efficiency, high reduction ratio, and high precision. However, for different types of reducers under different working conditions, there is no fast quantitative method for determining the dynamic characteristics of new materials and structures yet, so, this paper deals with the study of system stability by combining contact mechanics, kinematics, and Lyapunov exponents. First, kinematics analysis of one-stage cycloid reducer is performed, and the kinematics equations have been solved using the fourth-order Runge-Kutta numerical method, then, Lyapunov exponent is used to analyzing the motion smoothness characteristics of the system with various parameters. Also, the numerical experiment for the single stage cycloid pin gear system is given and the diagrams are obtained, showing the resulting translation, corresponding velocity, dynamic force, and Lyapunov exponent in terms of time. Research shows that a quantitative analysis index of RV reducer is of great significance for its nonlinear dynamic performance evaluation.