Study on Torsional Vibration of RV Reducer Based on Time-Varying Stiffness

Wang, Song; Tan, Jieqing; Gu, Jingjun; Huang, Diangui

doi:10.1007/s42417-020-00211-8

Cited by 17 publications

(11 citation statements)

References 8 publications

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“…Wang et al [8] proposed multi-tooth contact and transmission error models by dividing the contact area of tooth pairs into several differential elements. Wang et al [9] established the torsional vibration equations of the RV reducer with the trigonometric function-fitting torsional stiffness obtained by the torsional stiffness test, and simulated the torsional vibration response of the RV reducer based on the Runge-Kutta method. Xu et al [10] developed a contact dynamic model of cycloid drives to analyze the load distribution with consideration of the cylindrical roller-bearing effects.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of an RV Reducer Considering Tooth Profile Modifications and Errors

Huang

Ding

et al. 2023

Machines

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Due to their advantages of compact size, high reduction ratio, large stiffness and high load capacity, RV reducers have been widely used in industrial robots. The dynamic characteristics of RV reducers in terms of vibratory response and dynamic transmission error have a significant influence on positioning accuracy and service life. However, the current dynamic studies on RV reducers are not extensive and require deeper study. To bridge this gap, a more effective and realistic lumped parameter dynamic model for RV reducers is developed, considering the tooth profile modification of cycloid gears and system errors. Firstly, for an efficient solution, the equivalent pressure angle and equivalent mesh stiffness of the cycloid–pin gear pair are introduced in the dynamic model based on the loaded tooth contact analysis. Secondly, the differential equations of the system are derived by analyzing the relative displacement relationships between each component, which are solved using the Runge–Kutta method. With this, the effects of errors such as machining errors, assembly errors and bearing clearances on the dynamic behaviors and transmission precision are investigated by comparison to quantify or qualify their influence. This research is helpful in characterizing the multi-tooth mesh and dynamic behavior, and revealing the underlying physics of the RV reducer.

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of an RV Reducer Considering Tooth Profile Modifications and Errors

Huang

Ding

et al. 2023

Machines

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“…Scholars have done a lot of research on RV reducers, the most important research contents are as follows: the tooth profile modification optimization of the cycloidal gear of the reducer, 14–17 the finite element analysis of the dynamic performance, 18–20 and the development of the new type structural reducer. 21–23 Li et al 24 proposed a meshing contact analysis approach for RV cycloidal-pin gear transmission using the RV cycloidal-pin gear pair transmission as an example.…”

Section: Introductionmentioning

confidence: 99%

“…It is necessary to systematically study its transmission structure, vibration characteristics, and process optimization design, and carry out vibration tests, providing important guidance and practical value for engineering applications. [10][11][12][13] Scholars have done a lot of research on RV reducers, the most important research contents are as follows: the tooth profile modification optimization of the cycloidal gear of the reducer, [14][15][16][17] the finite element analysis of the dynamic performance, [18][19][20] and the development of the new type structural reducer. [21][22][23] Li et al 24 proposed a meshing contact analysis approach for RV cycloidal-pin gear transmission using the RV cycloidal-pin gear pair transmission as an example.…”

Section: Introductionmentioning

confidence: 99%

Analysis and experimental study on vibration characteristics of the RV reducer

Wang

Fang

et al. 2023

Advances in Mechanical Engineering

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RV reducers are commonly employed in precision transmissions, such as robot joints, owing to their multi-tooth contact characteristics, strong impact resistance, and low backlash. A finite element modal analysis of the RV reducer was conducted in this study to reduce the influence of RV vibration on the transmission performance and improve its transmission characteristics. The transmission characteristics are analyzed according to the transmission characteristics and principles. Combined with the theoretical basis of modal analysis, the finite element analysis method was used to analyze the main transmission components, and the natural frequencies and vibration modes of each main component were obtained. A modal analysis of the input shaft and cycloidal gear was performed, and the natural frequencies and vibration modes were obtained. The vibration patterns of the RV reducer, as well as the input shaft and cycloidal gear, were analyzed comprehensively. The distribution of each order frequency and deformation of the components can be determined by analyzing the frequency and array distribution of the components. An RV reducer transmission performance test platform was established to verify the accuracy of the simulation. Vibration signals under three different working conditions were collected, and the accuracy of the simulation was verified by analyzing the frequency signal, which provided important guidance for the design and optimization of the subsequent RV reducer.

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“…A computerized approach of loaded tooth contact analysis for cycloid planetary gear reducer was developed considering friction and bearing roller stiffness (C. H. Huang & Tsai, 2017). S. Wang et al (2021) established the parametric torsional vibration equation considering the time-varying stiffness of RV reducer, and the research verified that the time-varying torsional stiffness of RV reducer will cause the phenomenon of parametric torsional vibration. Zhang et al (2022) established the RV transmission dynamic model considering meshing stiffness, meshing force, meshing tooth pairs and transmission error linkage by using centralized parameter method and dynamic subsystem method.…”

Section: Introductionmentioning

confidence: 99%

A new method for calculating time‐varying torsional stiffness of RV reducers with variable loads and tooth modifications

Song

Yang

Liu

et al. 2023

Journal of Field Robotics

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Rotate vector (RV) reducers have advantages of high torque ratio, and extremely reliable functioning under dynamic load conditions, and so forth, and they are extensively used in precision transmissions, such as industrial robots. The torsional stiffness of RV reducers is a main parameter affecting the meshing vibration and transmission performance. In addition, the variable loads and tooth modifications have significant influence on the torsional stiffness of RV reducers. In this paper, a new method of calculating torsional stiffness for RV reducers considering variable loads and tooth modifications is presented. The dynamic stress and deformation of meshing teeth are calculated based on Hertz formulation, and the number of meshing teeth is determined by analyzing the dynamic stress of meshing teeth. Then, the torsional stiffness of RV reducers is obtained. Finite element method is applied to calculate the deformation of cycloidal-pin gear in the maximum force position δ max . The influence of variable applied loads and different tooth modifications of cycloidal-pin gear transmission on torsional stiffness are also studied. The results show that variable applied loads and different tooth modifications influence the torsional stiffness of RV reducers by changing teeth deformation and clearance, respectively.

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Study on Torsional Vibration of RV Reducer Based on Time-Varying Stiffness

Cited by 17 publications

References 8 publications

Dynamic Modeling and Analysis of an RV Reducer Considering Tooth Profile Modifications and Errors

Dynamic Modeling and Analysis of an RV Reducer Considering Tooth Profile Modifications and Errors

Analysis and experimental study on vibration characteristics of the RV reducer

A new method for calculating time‐varying torsional stiffness of RV reducers with variable loads and tooth modifications

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