Research on Dynamic Characteristics of Electromechanical Coupling of Robot Joint Crack Transmission System

doi:10.3901/JME.2022.19.057

Abstract

Abstract: The joint of the service robot adopts the integrated design of drive and control, and the transmission system adopts the small-modulus modified gear. The frequent movement of joints can easily lead to cracks in the gear transmission system, and the cracks cause stiffness changes that affect the dynamic characteristics of the entire system. According to the modified tooth profile, a calculation model of the crack stiffness is established. Study on the influence of modified coefficient and various crack forms on time-varying mesh stiffness. Secondly, the electromechanical coupling translation-torsion dynamic model of the robot joint is constructed by the lumped parameter method, and the electromagnetic characteristics of the drive motor and the backlash and other factors are taken into account into the equation. Finally, the influence of the crack on the transmission system is analyzed by statistics. The research results show that positive modified increases the stiffness, while negative modified is the opposite; the effect of double-sided cracks on stiffness is significantly greater than that of single-sided cracks; as the crack deepens, the stiffness decreases rapidly. The effect of cracks on the transmission system is gradually weakened with the increase of the transmission system grade. The research results provide a theoretical basis for the crack fault diagnosis of the modified gear transmission system.

Key words: time-varying meshing stiffness, modified gear, electromechanical coupling dynamics, fault diagnosis

CLC Number:

TH13

MO Shuai, ZHOU Changpeng, WANG Lei, HU Qingsen, GAO Hanjun, CEN Guojian. Research on Dynamic Characteristics of Electromechanical Coupling of Robot Joint Crack Transmission System[J]. Journal of Mechanical Engineering, 2022, 58(19): 57-67.

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