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The control accuracy of industrial robot depends on the comprehensive performance of RV reducer， which is the core component of industrial robot. At present， there is a lack of testing products for the performance of RV reducer in the market， the existing testing system has single function，which can't satisfy the requirements of industrial robot production and research. By analyzing the structure and working principle of RV reducer， the measurement method of performance parameters such as transmission error， transmission efficiency and torsional stiffness of RV reducer is intensively studied， an automatic measurement platform of RV reducer dynamic transmission performance is designed， it provides reference and basis for mechanical design and performance test of RV reducer.

An experiment program mainly about 28 groups of profiled corrugated steel sheets is introduced. By changing thickness of roofing board, thickness of purlin, height of purlin web and shape of clips for standing seam roof panel, the total torsional rigidity and factors that affect the total torsional rigidity were obtained. The torsional rigidity offered by roofing board, clip and purlin were solved separately with ANSYS, which were in good agreement with experimental results. The formulae for calculating the torsional rigidity of roofing board, clip and purlin were deduced. It is confirmed that total torsional rigid is formed by connecting three kinds of rigidity in series. Both test results and finite element analysis results show that the thickness of purlin is the most important factor which influences the torsional rigidity. [ABSTRACT FROM AUTHOR]

In this paper, by investigating the influence upon the structural response of the points of force application for the known load pattern, the concept of load-correlating center of rigidity of building structure is developed, which depends on both the structural stiffness property and the load distribution. To take the structural responses of deformation and internal force into consideration comprehensively, the total strain energy of the structure is selected as the measurement of the structural torsional response intensity. By minimizing the response strain energy of the building structure, the explicit calculation formulas for the load-correlating rigidity center is derived. Through computation and comparison for several typical example structures, it is found that the structural torsional deformation decreases observably if the points of force application for the vertical distributed load are moved from its traditional rigidity centers to the load-correlating ones, which shows that the eccentricities between the centers of mass and the load- correlating centers of rigidity can be taken as a set of valid parameters to measure the performance of the torsional resistance of the structural seismic design scheme, and then, to provide guidance for the seismic design of building structure. [ABSTRACT FROM AUTHOR]