Abstract:  Aiming at the problem of the transmission error caused by the flexibility effect of the harmonic reducer during the movement of the industrial robot arm, which further led to the positioning accuracy decrease at the end of the robot arm, the UR10 manipulator was taken as an example, and the theoretical modeling and simulation research on its harmonic reducer and the manipulator were carried out to reduce the transmission error and improve the positioning accuracy at the end of the manipulator. First, ADAMS and ANSYS-APDL were combined to simulate and analyze the three-dimensional model of the harmonic reducer, and the transmission error of the harmonic reducer at different speeds was studied. Then the dynamic equation of the dynamic transmission error of the harmonic reducer was established, the Runge-Kutta iterative solution was used to obtain the dynamic error curve, and the numerical solution was used to verify the correctness of the simulation solution. Finally, the influence of transmission error of the harmonic reducer at different speeds on the angular velocity, angular acceleration and positioning error of the end effector of rigid-flexible coupling manipulator was analyzed. The research results show that when the joint speed was 70% of the rated speed, the minimum simulation transmission error range of the harmonic reducer is -8.0″~7.5″, and the minimum positioning error of the robot arm end is 1.07mm, at this time, the transmission error has the least influence on the accuracy of the end of the manipulator, and the positioning accuracy is the highest.

Key words:  reducer; harmonic drive;flexibility effect; transmission error; rigidflexible coupling; positioning error