The method of selective assembly for the RV reducer based on genetic algorithm

Chu, Xia; Xu, Hui; Wu, Xiaomin; Tao, Jiping; Shao, Guifang

doi:10.1177/0954406217700179

Cited by 37 publications

(19 citation statements)

References 8 publications

(15 reference statements)

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…At present, industrial robots are widely applied in many areas, and the performance requirements of robot reducers are becoming increasingly more complex [1]. Therefore, the comprehensive performance detection of precision reducers has an essential impact on the development of robots [2]. Many experts and scholars have done much work on the internal parts of reducers [3] and the manufacturing errors of reducers [4,5].…”

Section: Introductionmentioning

confidence: 99%

Torque Measurement of High‐Precision Reducer for Industrial Robot

Zhang

2021

Journal of Sensors

View full text Add to dashboard Cite

Torque testing is crucial to improve the quality of high-precision reducers—the core component of industrial robots. Herein, a torque-measurement system for a novel vertical measuring instrument is designed. The distance from the torque transducers to the robot reducer is minimized to ensure the shortest measurement chain. The symmetrical system structure improves the overall rigidity, and error compensation can be performed easily. The characteristics of the torque measurement errors due to shaft bending and torsional deformations were also analyzed. A torque calibrator comprising two high-precision torque output systems was used to calibrate torque transducers in the measurement system. Reasonable and practical compensation models based on a backpropagation neural network were developed to accurately obtain the input and output torques of the reducer. As the torque-measurement precision of the reducer detector reached 0.1% over the entire torque range, the instrument can be used for accuracy measurement of the input and output torques of the robot reducer.

show abstract

Section: Introductionmentioning

confidence: 99%

Torque Measurement of High‐Precision Reducer for Industrial Robot

Zhang

2021

Journal of Sensors

View full text Add to dashboard Cite

show abstract

“…The cycloid-pin gear pair is the key component of precision reducers for robots and its meshing performance is important in the evaluation of the comprehensive performance of precision reducers for robots [1]. In cycloidal-pin gear planetary transmission, in order to compensate the assembly error and maintain reasonable backlash for the conveniences of lubrication and assembly, the theoretical tooth profile of the cycloidal gear is generally machined through the modification design and the tooth profile modification quality is the key to ensure the motion accuracy of precision reducers for robots [2].…”

Section: Introductionmentioning

confidence: 99%

A New Tooth Profile Modification Method of Cycloidal Gears in Precision Reducers for Robots

Deng³

et al. 2020

Applied Sciences

View full text Add to dashboard Cite

The tooth profile modification of cycloidal gears is important in the design and manufacture of precision reducers or rotary vector (RV) reducers for robots. The traditional modification design of cycloidal gears is mainly realized by setting various machining parameters, such as the size and center position of the grinding wheel. The traditional modification design has some disadvantages such as complex modification calculation, uncontrollable tooth profile curve shape and unstable meshing performance. Therefore, a new tooth profile modification method is proposed based on the consideration of the comprehensive influences of pressure angle distribution, meshing backlash, tooth tip and root clearance. Taking the pressure angle and modifications of tooth profile as the parameters of the modification function and the meshing backlash of gear teeth as constraints, the mathematical model for tooth profile modifications is built. The modifications are superimposed on the normal direction of the theoretical profile—the force transmission direction. The mathematical relationship between the modifications and the pressure angle distribution, which determines the force transmission performance, is established. Taking the straight line method, cycloid method and catenary method as examples, by means of the tooth contact analysis technology, the transmission error and minimum meshing backlash, which reflects the lost motion, of the newly modified profile are analyzed and verified. This proposed method can flexibly control the shape change of the modification profile and accurately pre-control the transmission accuracy of the cycloid-pin gear. It avoids the disadvantages of traditional modification methods, such as uncontrollable tooth profile shape and unstable meshing accuracy. The method allows good meshing characteristics, high force transmission performance and more precise tooth profile curve. The study provides a new design method of the modified profile of cycloidal gears.

show abstract

“…In their paper, a mathematical model of dynamic transmission accuracy of the system based on [18] was established and solving the dynamic system involved a lot of effort. Chu et al [22] proposed a method of selective assembly for the RV reducer such that the backlash of the RV reducer can meet the defined requirements. In the paper, the sensitivities and weights of error factors need to be Technical Editor: Zilda de Castro Silveira, Ph.D. prescribed in advance.…”

Section: Introductionmentioning

confidence: 99%

“…Coordinate systems for TCA of cycloidal gear The profile equation for the i th pin becomes:The unit normal vector of the cycloidal tooth (n c ) and the pin (n p ) are:Representing the coordinates of the cycloidal disc and pin in a fixed frame coordinate system yields: and Finally, writing the conditions for continuous contact yields:and Equations(15) and(16), together with Eqs (22). and (23) constitute a set of simultaneous equations with six…”

mentioning

confidence: 99%

Kinematic error analysis of the rotor vector gear reducer with machining tolerances

Shih

Lee

2020

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

The rotor vector (RV) gear reducer is a mechanism used for motion and torque transmission. With characteristics similar to a traditional cycloidal gear drive, it has been popularly applied in precision machinery because of its high-speed reduction ratio, large torque capacity, and high efficiency. In this work, we aim to analyze the kinematic error (transmission error) of the RV reducer with manufacturing and/or assembly tolerances. Formulae for the kinematic error are established by using the theory of gearing as well as tooth contact analysis. Subsequently, sensitivities of the kinematic error with respect to various design parameters are investigated. Lastly, a process to simulate the distribution of maximum kinematic errors of the gear reducer with various tolerance grades of the parts is developed via Monte Carlo method. It is shown that through selected tolerance control on the machine parts, the accuracy of the gear drive can be retained. The results of this work can be useful for controlling the manufacturing precision on the machine parts and assessing the overall accuracy of the mechanism in the design phase.

show abstract

The method of selective assembly for the RV reducer based on genetic algorithm

Cited by 37 publications

References 8 publications

Torque Measurement of High‐Precision Reducer for Industrial Robot

Torque Measurement of High‐Precision Reducer for Industrial Robot

A New Tooth Profile Modification Method of Cycloidal Gears in Precision Reducers for Robots

Kinematic error analysis of the rotor vector gear reducer with machining tolerances

Contact Info

Product

Resources

About