Lost motion analysis of CBR reducer

Sun, Xiaoxiao; Han, Liang; Ma, Kaiwei; Li, Luyang; Wang, Jian

doi:10.1016/j.mechmachtheory.2017.09.019

Cited by 44 publications

(24 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This method can improve the carrying capacity of cycloidal drive, eliminate noise and vibration and develop the transmission accuracy. Compared with the designed modified tooth profile, the actual tooth profile with machining errors can be accurately measured to compensate such errors between the actual and designed tooth profiles [11,12]. In addition, judging the optimal modified tooth profile according to the amplitude frequency vibration response of the transmission system caused by different modified tooth profiles is an effective method [13].…”

Section: Introductionmentioning

confidence: 99%

Transmission Performance Analysis of RV Reducers Influenced by Profile Modification and Load

Wang

Shi

et al. 2019

Applied Sciences

View full text Add to dashboard Cite

RV reducers contain multi-tooth contact characteristics, with high-impact resistance and a small backlash, and are widely used in precision transmissions, such as robot joints. The main parameters affecting the transmission performance include torsional stiffness and transmission errors (TEs). However, a cycloid tooth profile modification has a significant influence on the transmission accuracy and torsional stiffness of an RV reducer. It is important to study the multi-tooth contact characteristics caused by modifying the cycloid profile. The contact force is calculated using a single contact stiffness, inevitably affecting the accuracy of the result. Thus, a new multi-tooth contact model and a TE model of an RV reducer are proposed by dividing the contact area into several differential elements. A comparison of the contact force obtained using the finite element method and the test results of an RV reducer prototype validates the proposed models. On this basis, the influence of load on the different modification methods is studied, including a TE, the mechanical performance, and the transmission efficiency. In addition, the proposed reverse profile is particularly suitable for situations with a large clearance and torque. This study provides a reliable theoretical basis for a multi-tooth contact analysis of a cycloid profile modification.

show abstract

Section: Introductionmentioning

confidence: 99%

Transmission Performance Analysis of RV Reducers Influenced by Profile Modification and Load

Wang

Shi

et al. 2019

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…1. Sun et al (2018) designed a single-stage cycloidal reducer and measured the lost motion of thirty positions by means of locking the input shaft and loading on output shaft. Shi et al (2018b) developed a RV reducer comprehensive performance tester and measured the lost motion of forty positions of RV reducer.…”

Section: Introductionmentioning

confidence: 99%

Dynamic measurement of the lost motion of precision reducers in robots and the determination of optimal measurement speed

Shi

et al. 2019

JAMDSM

View full text Add to dashboard Cite

A precision reducer is the core component in an industrial robot and largely determines the performance of a robot. Lost motion is a key index of the performance of precision reducers and its measurement and evaluation are the basis for improving the performance of precision reducers. The dynamic measurement of the lost motion is affected by load torque and speed, but there is no uniform standard or scientific basis for measurement speed, thus leading to the deviations in measurement results. In this paper, the principle of the dynamic measurement of the lost motion of precision reducers was firstly introduced and the method of separating the geometric lost motion based on optimal measurement speed was put forward. Then, according to the Stribeck friction effect of precision reducers, the method of determining the optimal measurement speed was proposed and the calculation model of the optimal measurement speed was established. Finally, taking the RV reducer as an example, the measurement experiment was carried out. The friction torque of the RV reducer was the least and the mean value of the measured geometric lost motion was the least under the optimal measurement speed, thus verifying the proposed method.

show abstract

“…Zheng and Xi developed a dynamic characteristics test rig for an RV reducer, where the rail mounting was used to reduce the influence of installation error on the angle encoder [7]. Sun and Han used a laser instrument directly mounted at the output of the reducer to measure the hysteresis curve of a CBR reducer [8]. The measurement error of the torsion angle has a greater impact on the evaluation of the torsional characteristics than the measurement and evaluation of the rotation angle.…”

Section: Introductionmentioning

confidence: 99%

A New Error Model and Compensation Strategy of Angle Encoder in Torsional Characteristic Measurement System

Chen

Peng

Huang

2019

Sensors

View full text Add to dashboard Cite

For systems of measurement, geometric errors such as manufacturing and assembly errors could have a significant impact on the accuracy of the angle encoders of the system. In this study, an error model of angular measurement with geometric errors of a torsional characteristic measurement system was developed based on multibody system theory, the aim of which was to reveal the impact of geometric errors on angular measurement and to compensate the measurement error. According to the principle of spatial error transfer, the decomposition of geometric errors is illustrated and the error matrix of geometric errors is constructed by the Denavit–Hartenberg (DH) method. Subsequently, an error compensation function can be obtained and the impact of geometric error on angular measurement is discussed. Finally, we demonstrate by the experimental results of an ultra-autocollimator that the proposed error compensation method reduced the angular measurement error from 3.7% to 0.7%, which shows that the proposed error model can effectively predict the angular measurement error. In addition, it can be seen from the measurement results of the RV reducer that the error of the torsional characteristic measurement system decreased significantly.

show abstract

Lost motion analysis of CBR reducer

Cited by 44 publications

References 21 publications

Transmission Performance Analysis of RV Reducers Influenced by Profile Modification and Load

Transmission Performance Analysis of RV Reducers Influenced by Profile Modification and Load

Dynamic measurement of the lost motion of precision reducers in robots and the determination of optimal measurement speed

A New Error Model and Compensation Strategy of Angle Encoder in Torsional Characteristic Measurement System

Contact Info

Product

Resources

About