Abstract:A multi-objective optimal model of a K-H-V cycloid pin gear planetary reducer is presented in this article. The optimal model is established by taking the objective functions of the reducer volume, the force of the turning arm bearing, and the maximum bending stress of the pin. The optimization aims to decrease these objectives and obtains a set of Pareto optimal solutions. In order to improve the spread of the Pareto front, the density estimation metric (crowding distance) of non-dominated sorting genetic alg… Show more
“…In the theoretical analysis, the number of teeth of the pin gear and the cycloid gear should be half of the total number of tooth at the same time. 10,11 In this paper, the method of changing the eccentricity to the cycloid gear is used to equivalently replace the stress balanced modification tooth profile, where the total number of engagement of the pin gear is generally less than half of the total number, and the tooth number for simultaneous contact is n–m as shown in Figure 4. Meshing stiffness of single gear Figure 4.The driving force of the cycloid gear and the pin gear.…”
A new type of FT pin-cycloid transmission reducer is widely used in the industrial robot field due to the high transmission accuracy. In addition, the complex working conditions bring about vibration, which affects the transmission accuracy of the robot. Therefore, it is necessary to study the dynamic characteristics of FT reducer at the transmission joint. In this paper, based on the analysis of its transmission principle and structure, the dynamic model of FT transmission is established by necessary assumptions. The stiffness mathematical models of different meshing positions are obtained from the dynamic model, and the differential equations of the system are established by Lagrange method. In order to solve the natural frequency of the system, the stiffness of meshing positions of the system is solved, including input shaft torsional stiffness, involute gear meshing stiffness, bearing stiffness, cycloid gear and pin torsional stiffness. Considering the output of FT transmission, a “3+ i” model is proposed to obtain the mesh stiffness between the cycloid gear and output pins. Finally, the correctness of the model is proved by choosing parameters such as transmission ratio and force on parts and components by simulation. The research results will provide theoretical support for the optimal design of FT transmission.
“…In the theoretical analysis, the number of teeth of the pin gear and the cycloid gear should be half of the total number of tooth at the same time. 10,11 In this paper, the method of changing the eccentricity to the cycloid gear is used to equivalently replace the stress balanced modification tooth profile, where the total number of engagement of the pin gear is generally less than half of the total number, and the tooth number for simultaneous contact is n–m as shown in Figure 4. Meshing stiffness of single gear Figure 4.The driving force of the cycloid gear and the pin gear.…”
A new type of FT pin-cycloid transmission reducer is widely used in the industrial robot field due to the high transmission accuracy. In addition, the complex working conditions bring about vibration, which affects the transmission accuracy of the robot. Therefore, it is necessary to study the dynamic characteristics of FT reducer at the transmission joint. In this paper, based on the analysis of its transmission principle and structure, the dynamic model of FT transmission is established by necessary assumptions. The stiffness mathematical models of different meshing positions are obtained from the dynamic model, and the differential equations of the system are established by Lagrange method. In order to solve the natural frequency of the system, the stiffness of meshing positions of the system is solved, including input shaft torsional stiffness, involute gear meshing stiffness, bearing stiffness, cycloid gear and pin torsional stiffness. Considering the output of FT transmission, a “3+ i” model is proposed to obtain the mesh stiffness between the cycloid gear and output pins. Finally, the correctness of the model is proved by choosing parameters such as transmission ratio and force on parts and components by simulation. The research results will provide theoretical support for the optimal design of FT transmission.
“…But in the actual application process, the actual impact of factors on system performance is often judged by engineering experience. From the control point of view, the law and formation mechanism of HSCS are not clear [2][3][4][5] , and there is no guiding signi cance for the design of control method of HSCS. Therefore, the hydro-viscous clutch often appears overheating, warping deformation and serious damage problems when working [6][7][8][9] .…”
Hydro-viscous clutch has become an inevitable choice for the transmission of contemporary and future special vehicles. As a nonlinear dynamic system with large lagging link, its timing performance is affected by input rotational speed, lubricating oil temperature, lubricating pressure and other factors. However, in the actual application process, the actual influence of the influencing factors on the system performance is often judged by engineering experiences. From the control point of view, the speed regulation law and formation mechanism of hydro-viscous speed control system(HSCS) are not clear, and the control characteristics and global model are indeterminate. To solve the above problems, this paper analyzes the speed control characteristics of HSCS, including steady-state speed control characteristics and dynamic speed control characteristics. The specific characteristic parameters are obtained, and the data-driven model describing the input rotational speed, output speed, control oil pressure and lubricating oil temperature is established. The formation mechanism of the multi-region in HSCS is analyzed. According to the analysis, this paper determines that the effective pressure control range of HSCS is 0-6.2 Bar, the effective force control range is 0–4 KN, the fastest response time is greater than 3s. This paper provides the basis for integrated modeling and control method design. It is helpful to further reveal and obtain the control characteristics and parameters of HSCS, so as to provide the basis for the structure and parameter optimization, performance evaluation and analysis of HSCS machinery and hydraulic system.
“…In a noncircular planetary gear mechanism, the geometry of the center wheel and the inner gear ring and their transmission relations with the planetary wheel should satisfy certain constraints, which may be more complex nonlinear relations [22][23][24][25].…”
Given the design difficulty and poor accuracy of tooth profile of noncircular gear used in noncircular gear hydraulic motor, it is proposed to reduce the design difficulty and improve the design accuracy by using arc-shaped pitch curve instead of noncircular pitch curve with continuously varying curvature. Based on the geometric relationship and transmission relationship of the noncircular planetary gear mechanism, a nonlinear programming model is constructed for the circular arc-shaped pitch curve. By solving the nonlinear programming model, a noncircular planetary gear mechanism with a modulus of m = 1.5 is designed. The noncircular gear mechanism with the arc-shaped pitch curve was machined and installed in a hydraulic motor, and an efficiency comparison experiment was conducted with a high-order elliptical noncircular gear mechanism with a continuously varying curvature. The experiment shows that the efficiency of the two noncircular gear mechanisms is basically the same, and the best speed range is 100–400 rpm. The noncircular planetary gear mechanism with an arc-shaped pitch curve designed in this paper has reasonable structure, correct transmission relationship, and simple design method, which shows that the design method proposed in this paper has a good engineering application value.
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