Nonlinear Dynamic Model and Equations of RV Transmission System

Shan, Li; Fang, Xue; He, Wei

doi:10.4028/www.scientific.net/amr.510.536

Cited by 6 publications

(4 citation statements)

References 3 publications

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“…In response to this, researchers have undertaken studies on the nonlinear dynamic characteristics of RV reducers under the influence of nonlinear backlash excitations [19][20][21][22][23]. Shan et al [26,27] considered the impact of gear backlash, established a torsional nonlinear dynamic model for RV reducers, and analyzed the dynamic response of the system as the excitation frequency varied. Han et al [28] proposed a method for establishing the dynamic model of a 2K-V reducer, considering the nonlinearity introduced by installation clearances.…”

Section: Introductionmentioning

confidence: 99%

“…Through sensitivity analysis, the primary factors inducing system vibration were identified. Although the gear backlash is considered in [26][27][28][29][30], there is still a lack of analysis on nonlinear dynamic characteristics. The existing studies mainly focus on analyzing the transmission accuracy and vibration response of the system under the influence of nonlinear factors, but do not deeply explore the nonlinear dynamic characteristics of the system.…”

Section: Introductionmentioning

confidence: 99%

“…Currently, papers on the nonlinear dynamic characteristics of gear transmission systems primarily focus on involute gears [24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39], with some scholars researching chaotic and bifurcation characteristics related to cycloidal gears [40][41][42][43][44]. Blankenship and Kahraman [31][32][33] established a single-degree-of-freedom dynamic model for gear pairs with tooth-side clearance.…”

Section: Introductionmentioning

confidence: 99%

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Study on Nonlinear Dynamic Characteristics of RV Reducer Transmission System

Han,

Wang,

et al. 2024

Energies

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Rotate vector (RV) reducers have widely been used in high-performance precision drives for industrial robots. However, the current nonlinear dynamic studies on RV reducers are not extensive and require a deeper focus. To bridge this gap, a translational–torsional nonlinear dynamic model for an RV reducer transmission system is proposed. The gear backlash, time-varying mesh stiffness, and comprehensive meshing errors are taken into account in the model. The dimensionless vibration differential equations of the system were derived and solved numerically. By means of bifurcation diagrams, phase trajectories, Poincaré sections, and the power spectrum, the motion state of the system was studied with the bifurcation parameters’ variation, including excitation frequency and meshing damping. The results demonstrate that this system presents enriched nonlinear dynamic characteristics under different parameter combinations. The motion state of the system is more susceptible to change at lower frequencies. Increasing the meshing damping coefficient proves effective in suppressing the occurrence of chaos and reducing vibration amplitudes, significantly enhancing the stability of the transmission system.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Study on Nonlinear Dynamic Characteristics of RV Reducer Transmission System

Han,

Wang,

et al. 2024

Energies

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“…But in the process of modeling, some details are often neglected, which makes the model not conform to the actual situation. For example, the meshing stiffness of out pin and cycloid gear is not considered in Shan et al., 4,5 and presently there is no reference on dynamic characteristics of the FT transmission.…”

Section: Introductionmentioning

confidence: 99%

Research on dynamic modeling and simulation verification of a new type of FT pin-cycloid transmission

Xuan

Xie

Guan

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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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.

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Study on Nonlinear Dynamics of RV Transmission System Used in Robot Joints

Shan

2015

Recent Advances in Mechanism Design for Robotics

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The nonlinear dynamic characteristics of RV transmission device was investigated according to dynamics theory, mass centralized method was used to establish the nonlinear dynamical model of RV transmission device, which was composed of inertial component, elastic element and damping element. The influence of the nonlinear factors as meshing stiffness varying with time (though the variation in the number of meshing teeth), backlash of gear pairs and errors were considered. Movement differential equations of system were derived, and these equations were changed to non-dimension, which were solved by Runge-Kutta method. Influences of excitation frequency and damping on system dynamic characteristics were analyzed. As the excitation frequency increased, the system would vibrate from single periodic motion to harmonic motion, chaotic motion. Along with the reduced damping, chaos vibration occurs gradually after a doubling periodic of bifurcation, as the system gradually gets into the chaotic state. The impact is also changed from coexistence of non-impact and the unilateral impact to coexistence of the non-impact, unilateral impact and bilateral impact.

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Nonlinear Dynamic Model and Equations of RV Transmission System

Cited by 6 publications

References 3 publications

Study on Nonlinear Dynamic Characteristics of RV Reducer Transmission System

Study on Nonlinear Dynamic Characteristics of RV Reducer Transmission System

Research on dynamic modeling and simulation verification of a new type of FT pin-cycloid transmission

Study on Nonlinear Dynamics of RV Transmission System Used in Robot Joints

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