Feasibility analysis of using a two-stage nutation drive as joint reducer for industrial robots

Cai, Yang; Yao, Ligang; Zhang, Jun; Xie, Zhibin; Hong, Jinlong

doi:10.1007/s12206-019-0332-z

Cited by 14 publications

(6 citation statements)

References 22 publications

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“…Xu and Yang 11 studied the relative speed and meshing efficiency of a ball drive, and experimentally verified the superiority of the reducer. Cai et al 12 analyzed the working principle of a two-stage nutation driven reducer, and carried out finite element analysis (FEA) of its joint components.…”

Section: Introductionmentioning

confidence: 99%

Geometric design and dynamic characteristics of a novel abnormal cycloidal gear reducer

Gong

Luo

et al. 2023

Advances in Mechanical Engineering

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A precision reducer with a high ratio and a small size is essential for precise control of the position of a robotic arm. The rotate vector (RV) is a reducer widely applied in robotic joints. However, its complex structure, over-positioning and difficult assembly restrict its application industrial robots. Herein, a novel abnormal cycloidal gear (ACG) reducer is proposed. In comparison to the RV reducer, the proposed reducer has the characteristics of compact structure, less over-positioning and high ratio. The compound tooth profile of “epicycloid-involute hypocycloid” is used as the driving teeth for improving the performance of the reducer. The operating principle, mechanism design and reduction ratio of the proposed reducer is investigated, and the design method of the ACG tooth profile is also introduced. A dynamic characteristic model is established to verify the correctness of the design method of the reducer. A prototype of the ACG reducer is fabricated by using the computer numerical control (CNC) machining technology. Results show that the ACG reducer is capable to cover a wide range of reduction ratios with a simple mechanism. The numerical and theoretical results are in agreement, which depict the structural feasibility and correctness of the design method of the reducer. The adaptation of the ACG tooth profile as the driving teeth helps in improving the performance of the reducer.

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Section: Introductionmentioning

confidence: 99%

Geometric design and dynamic characteristics of a novel abnormal cycloidal gear reducer

Gong

Luo

et al. 2023

Advances in Mechanical Engineering

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show abstract

“…e weak stiffness of the shaft causes torque fluctuation [20], adversely affecting the measurement accuracy of the instrument [21,22]. Moreover, installing and disassembling the tested reducer takes more than an hour in practicality, severely complicating industrial applications [23].…”

Section: Introductionmentioning

confidence: 99%

Design and Calibration of Torque Measurement System of Comprehensive Performance Test Instrument of Industrial Robot Reducer

Qiu

et al. 2022

Computational Intelligence and Neuroscience

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The measurement of input and output torque of a precision reducer, the core component of an industrial robot, plays a vital role in evaluating the robot's performance. The TMSIS and TMSOS of a vertical cylindrical high-precision reducer detector were designed and investigated in this study to realize the accurate measurement of input and output torque of the reducer. Because a transmission chain connects the torque transducer and the reducer, the characteristics of the inevitable additional torque are analyzed in detail. A torque calibration device is developed to realize the calibration of the torque measurement system. The readings of the torque calibration device are compared with the data of the instrument’s torque measurement system to realize the instrument's torque calibration. The improved particle swarm optimization and Levenberg–Marquardt algorithm-based radial basis function neural network is used to compensate for the error of the torque measurement system. The parameters of the RBF neural network are settled according to the characteristics of the additional torque and the torque calibration results. The experimental results show that the torque measurement accuracy of the torque measurement system can reach 0.1% FS after torque calibration and error compensation.

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“…20,21 Moreover, in practical application, it takes more than an hour to assembly the tested industrial reducer, which brings great difficulties to utilization. 22 In this study, the TMMISR and TMMOSR were developed for a vertical-type measuring instrument. The characteristics of the two main parts of the torquemeasurement errors were also analyzed.…”

Section: Introductionmentioning

confidence: 99%

“…20,21 Moreover, in practical application, it takes more than an hour to assembly the tested industrial reducer, which brings great difficulties to utilization. 22…”

Section: Introductionmentioning

confidence: 99%

Design and calibration of the accurate torque measurement systems of the precision robot reducer detector

Zhang

Yu³

et al. 2022

Measurement and Control

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The input and output torque testing is crucial for improving the quality of Industry robot reducers. In this study, the TMMISR and TMMOSR for a vertical-type robot reducer detector were designed. The length of measurement chain between the torque transducer and the tested reducer was shorten. The overall stiffness of this instrument has been improved through structural optimization. The characteristics of the two main parts of the torque-measurement errors were also analyzed. A high precision torque calibrator with a standard torque output is used to handle the torque calibration process. An error compensation method based on a backpropagation neural network was adopted for the error compensation process in this study. After error compensation, torque-measurement precision of 0.1% can be achieved by the reducer detector over the full torque measurement scale, and the instrument can be used for both static and dynamic measurements.

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Feasibility analysis of using a two-stage nutation drive as joint reducer for industrial robots

Cited by 14 publications

References 22 publications

Geometric design and dynamic characteristics of a novel abnormal cycloidal gear reducer

Geometric design and dynamic characteristics of a novel abnormal cycloidal gear reducer

Design and Calibration of Torque Measurement System of Comprehensive Performance Test Instrument of Industrial Robot Reducer

Design and calibration of the accurate torque measurement systems of the precision robot reducer detector

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