Study on the Grinding Speed Model of Eccentric Shaft Components of the RV Reducer for Robotic Arm

This paper establishes a model for the grinding motion relationship of eccentric shaft profiles in the RV reducer used for plane rigid body motion of the robotic arm. It clarifies the velocity and acceleration constraint relationship between the X and C axes and provides a quantitative expression for the feed speed of the grinding point. The changing trends of the feed speed and acceleration of the grinding wheel under constant angular speed and constant linear speed conditions are analyzed and compared. It is concluded that workpieces with large eccentricity are not suitable for constant linear speed grinding, providing a basis for further analysis of the causes of profile errors and error compensation in the dynamic grinding process.