Abstract In the design stage, there are difficulties to quantitatively estimate the transmission error of the complex multi-stage gear reducer for a large space manipulator and determine whether the tolerance design of the main parts is reasonable. In view of the above problems, a mathematical method for predicting transmission error of gear system based on design tolerances is proposed. Instead of considering tangential integrated errors of gears and geometric errors based on measurement, this paper comprehensively considers the machining and assembly errors of key components such as shafts, gears and housings, which satisfy the requirements of design tolerances. By tracing the assembly errors of gear system, the characterization of geometric errors is presented. Then, the formula of each error source is established, and an accurate mathematical model of the total transmission error is developed. Finally, a novel sensitivity method of gear transmission accuracy is developed to find out the critical parts and factors which affect the assembly performance of gear system. The numerical and experimental results agree well with each other, which verifies the validity of the methodology.

中文翻译：

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大空间机械手复杂多级齿轮传动系统装配误差建模与计算新方法

摘要 在设计阶段，难以定量估计大空间机械手复杂多级齿轮减速器的传动误差，确定主要零件的公差设计是否合理。针对上述问题，提出了一种基于设计公差的齿轮系统传动误差预测数学方法。本文没有考虑齿轮的切向积分误差和基于测量的几何误差，而是综合考虑满足设计公差要求的轴、齿轮和轴承座等关键部件的加工和装配误差。通过跟踪齿轮系统的装配误差，给出了几何误差的表征。然后，建立每个误差源的公式，并建立了总传输误差的精确数学模型。最后，提出了一种新的齿轮传动精度灵敏度方法，找出影响齿轮系统装配性能的关键部件和因素。数值和实验结果吻合良好，验证了该方法的有效性。