Gear backlash modeling and tolerance simulation of fully gear-coupled robot
The robot's structure and transmission principles were analyzed given the characteristics of long gear transmission chains and high reverse frequency in fully gear-coupled robots.Theoretical modeling of gear backlash and a three-dimensional tolerance simulation analysis method were proposed to reduce the impact of backlash on the transmission accuracy of robots.The theoretical modeling and the tolerance simulation analysis of gear backlash were conducted for the cylindrical gear mechanism at the drive end.The two results were consistent.An equivalent backlash modeling method that equivalents the bevel gear pair as a hypothetical cylindrical gear pair was proposed for the bevel gear mechanism in joints,and the theoretical modeling analysis result accorded with the tolerance simulation analysis results.The end error of the robot was calculated by taking the robot shoulder joint swing transmission chain as the analysis object.The calculation method of bevel gear backlash and the motor angle compensation method were proposed to reduce gear backlash and the return error of the transmission chain caused by the gear backlash.The effectiveness of this compensation method was validated through experiment.
NETL
NSTL
万方数据
