A modelling approach for kinematic equivalent mechanism and rotational transmission error of RV reducer

Yang, Yuhu; Zhou, Guocheng; Chang, Le; Chen, Gang

doi:10.1016/j.mechmachtheory.2021.104384

Cited by 28 publications

(9 citation statements)

References 32 publications

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“…Yang's model was verified by comparing the calculation results with the results obtained from finite element analysis. Other researchers such as Yang [11], Li [12], and Wu [13] demonstrated how manufacturing errors such as machining and assembly error influence the transmission accuracy of the RV reducer. The outcomes of those works provide theoretical support for improving the transmission accuracy of the RV reducer.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2022

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Zero-backlash high precision roller enveloping reducers (ZHPRER) possess a wide array of potential applications in the field of industrial robot because of their high precision and efficiency. This paper presents a pilot study to verify the applicability of this type of reducers in industrial robots. An industrial robot was designed, whose joint reducers were the roller enveloping reducers. A dynamic model for this robot which accounts for the dynamic responses of the reducers was also established using multibody dynamics. This dynamic model was then used for analyzing the dynamic behavior of the joint reducers and the body of the robot under different operating conditions. Simulation results yielded from the developed model were verified by comparing them with the data obtained from experiments. The present study for the first time confirms the evident advantages of ZHPRER for industrial robotic applications. Meanwhile, the proposed dynamic model for the industrial robot provides theoretical support for the subsequent design of error compensation control.

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Section: Introductionmentioning

confidence: 99%

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

et al. 2022

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“…As for the RV reducers, they have high stiffness and rotational accuracy. However, their structural composition is relatively complex, making it difficult to achieve miniaturization; moreover, it is applied to heavy load situations, such as mounts, arms, and shoulders of the general-size robot [ [24] , [25] , [26] ]. Finally, Harmonic reducers have the advantages of a large transmission ratio, small size, and lightweight, and they are mainly used for small arms, wrists, or hands of general-size robots.…”

Section: Introductionmentioning

confidence: 99%

Transmission efficiency of one tooth difference sine tooth profile planetary reducer

Lu,

2024

Heliyon

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“…In recent years, RV reducers have been widely used in high-performance precision drives for industrial robots, precision machine tools, solar tracking systems, and aerospace equipment, especially in the industrial robotics field [1,2]. As the joint reducer of industrial robots, the RV reducer is one of its three core components, mainly installed in the seat, arm, shoulder, and other heavy-duty positions.…”

Section: Introductionmentioning

confidence: 99%

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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A modelling approach for kinematic equivalent mechanism and rotational transmission error of RV reducer

Cited by 28 publications

References 32 publications

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

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

Transmission efficiency of one tooth difference sine tooth profile planetary reducer

Study on Nonlinear Dynamic Characteristics of RV Reducer Transmission System

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