Analysis of Inherent Characteristics of Robot Joint Transmission System
As the core component of robots, the robot joint is mainly composed of drive control system and multi-stage gear transmission system. Under high speed and high load, the dynamic characteristics of gear transmission system are more complex. Taking the gear transmission system in the robot joint as th...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.10.012 |
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| _version_ | 1841547325855498240 |
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| author | Mo Shuai Hu Xiaosong Yang Zhenning Feng Zhiyou Li Xu Zhou Changpeng Huang Yunsheng |
| author_facet | Mo Shuai Hu Xiaosong Yang Zhenning Feng Zhiyou Li Xu Zhou Changpeng Huang Yunsheng |
| author_sort | Mo Shuai |
| collection | DOAJ |
| description | As the core component of robots, the robot joint is mainly composed of drive control system and multi-stage gear transmission system. Under high speed and high load, the dynamic characteristics of gear transmission system are more complex. Taking the gear transmission system in the robot joint as the research object, the translation torsion coupling dynamic model is established by using the lumped parameter method, and the dynamic equations of each component are established according to Newton's second law. Therefore, the natural frequency, modal strain energy and modal kinetic energy of the system are analyzed, and the influence of system parameters on natural frequency is studied. The results show that for the modal energy of the system, the total strain energy is the largest at the 15th natural frequency, the overall deformation of the system is the largest, the total kinetic energy is the largest at the 24th natural frequency, and the vibration of the system is the most intense at this natural frequency; the influence of system parameters on natural frequency is mainly reflected in that higher-order natural frequency is obviously affected; affected by the change of system stiffness, some natural frequency trajectory curves gradually approach, and will quickly separate with large curvature near a certain point, resulting in modal transition. When the frequencies are similar, they will transition again. |
| format | Article |
| id | doaj-art-46abc7fc296e4e15839066eaeeb381f2 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-46abc7fc296e4e15839066eaeeb381f22025-01-10T14:47:09ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-10-0146778531572450Analysis of Inherent Characteristics of Robot Joint Transmission SystemMo ShuaiHu XiaosongYang ZhenningFeng ZhiyouLi XuZhou ChangpengHuang YunshengAs the core component of robots, the robot joint is mainly composed of drive control system and multi-stage gear transmission system. Under high speed and high load, the dynamic characteristics of gear transmission system are more complex. Taking the gear transmission system in the robot joint as the research object, the translation torsion coupling dynamic model is established by using the lumped parameter method, and the dynamic equations of each component are established according to Newton's second law. Therefore, the natural frequency, modal strain energy and modal kinetic energy of the system are analyzed, and the influence of system parameters on natural frequency is studied. The results show that for the modal energy of the system, the total strain energy is the largest at the 15th natural frequency, the overall deformation of the system is the largest, the total kinetic energy is the largest at the 24th natural frequency, and the vibration of the system is the most intense at this natural frequency; the influence of system parameters on natural frequency is mainly reflected in that higher-order natural frequency is obviously affected; affected by the change of system stiffness, some natural frequency trajectory curves gradually approach, and will quickly separate with large curvature near a certain point, resulting in modal transition. When the frequencies are similar, they will transition again.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.10.012Robot jointInherent characteristicsModal energyNatural frequencyModal transition |
| spellingShingle | Mo Shuai Hu Xiaosong Yang Zhenning Feng Zhiyou Li Xu Zhou Changpeng Huang Yunsheng Analysis of Inherent Characteristics of Robot Joint Transmission System Jixie chuandong Robot joint Inherent characteristics Modal energy Natural frequency Modal transition |
| title | Analysis of Inherent Characteristics of Robot Joint Transmission System |
| title_full | Analysis of Inherent Characteristics of Robot Joint Transmission System |
| title_fullStr | Analysis of Inherent Characteristics of Robot Joint Transmission System |
| title_full_unstemmed | Analysis of Inherent Characteristics of Robot Joint Transmission System |
| title_short | Analysis of Inherent Characteristics of Robot Joint Transmission System |
| title_sort | analysis of inherent characteristics of robot joint transmission system |
| topic | Robot joint Inherent characteristics Modal energy Natural frequency Modal transition |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.10.012 |
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