Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

Wang, Shisong; Deng, Xingqiao; Feng, H. Amy; Ren, Keqi; Li, Fan; Liu, Yucheng

doi:10.1007/s11044-022-09864-7

Cited by 3 publications

(3 citation statements)

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“…The equal position gradient loading method capitalizes on this characteristic. The loading process is shown in Figure 8 and equation (8), where u r and Àu r are the target angles.…”

Section: Loading Principlementioning

confidence: 99%

“…The torque sensor and angle sensor are employed to measure the torque and angle data, respectively, while the loading device administers the load. 4 During lost motion testing of large and mediumsized reducers, such as RV reducers, harmonic gear reducers, and planetary gear reducers, the conventional loading approach employed is the equal torque gradient loading, [5][6][7][8] as depicted in Figure 3. This method entails the use of a consistent unit torque for gradient loading and mimics the process of lost motion generation within the reducer during testing.…”

Section: Introductionmentioning

confidence: 99%

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Research on the loading method for lost motion testing of small-sized reducer

Cheng,

Shi,

et al. 2023

Measurement and Control

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Lost motion is utilized to characterize the transmission accuracy of gear reducers and is commonly evaluated through the hysteresis curve method. In examinations of lost motion for large and medium-sized reducers, the default practice is the application of the equal torque gradient loading method. Nonetheless, for small-sized reducers, this approach is deemed inappropriate due to the constraints of the servo motor loading resolution. This study reveals that employing a larger unit torque for equal torque gradient loading can modify the shape of the hysteresis curve and influence the assessment of lost motion. As a result, this paper introduces two innovative loading techniques, namely equal position gradient loading and uniform speed loading, to address the limitations of equal torque gradient loading and reduce the demands on testing equipment. Subsequent experiments validate the issues associated with equal torque gradient loading, confirm the effectiveness of the two new loading techniques, and yield more comprehensive hysteresis curves. It is important to note that all three loading methods are influenced by the loading rate, but the two novel methods can mitigate the effects of loading rate dependency.

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“…The equal position gradient loading method capitalizes on this characteristic. The loading process is shown in Figure 8 and equation (8), where u r and Àu r are the target angles.…”

Section: Loading Principlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on the loading method for lost motion testing of small-sized reducer

Cheng,

Shi,

et al. 2023

Measurement and Control

View full text Add to dashboard Cite

show abstract

“…The harmonic reducer is not the only element that can be exploited in the joint architecture of a robot. Another possible solution is the Zero-backlash High-Precision Roller Enveloping Reducer (ZHPRER) proposed in [41]. In their work, Wang et al tested and verified the applicability of such a novel reducer by means of a dynamic model established using multibody dynamics.…”

Section: Introductionmentioning

confidence: 99%

A Comprehensive Multibody Model of a Collaborative Robot to Support Model-Based Health Management

et al. 2023

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Digital models of industrial and collaborative manipulators are widely used for several applications, such as power-efficient trajectory definition, human–robot cooperation safety improvement, and prognostics and health management (PHM) algorithm development. Currently, models with simplified joints present in the literature have been used to evaluate robot macroscopic behavior. However, they are not suitable for the in-depth analyses required by those activities, such as PHM, which demand a punctual description of each subcomponent. This paper aims to fill this gap by presenting a high-fidelity multibody model of a UR5 collaborative robot, containing an accurate description of its full dynamics, electric motors, and gearboxes. Harmonic reducers were described through a translational equivalent lumped parameter model, allowing each constitutive element of the reducer to have its decoupled dynamics and mating forces through non-linear penalty contact models. To conclude, both the mathematical model and the real robot on a test rig were tested with a set of different trajectories. The experimental results highlight the ability of the proposed model to accurately replicate joint angular rotation, speed and torques in a wide range of operational scenarios. This research provides the basis for the development of a model-based PHM-oriented framework to carry out detailed and advanced analyses on the effects of manipulator degradations.

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