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A nonlinear torsional vibration model of harmonic gear reducer and the effect of various factors on torsional vibration during start and stop
Journal of Vibration and Control ( IF 2.8 ) Pub Date : 2021-07-09 , DOI: 10.1177/10775463211031054
Rukang Hu 1 , Guangwu Zhou 1 , Junyang Li 2
Affiliation  

The torsional vibration problems often occur to industrial robots during start and stop due to the use of flexible wheel in harmonic gear reducer as a transmission pair. Because of the influence of nonlinear stiffness, transmission error, and other factors, the nonlinear torsional vibration of harmonic gear reducer will affect the stability and reliability of transmission system. In this article, based on the structural characteristics of the harmonic gear reducer, considering the nonlinear torsional stiffness, transmission error, meshing damping, and other factors, the nonlinear torsional dynamic model of the harmonic gear reducer was established with the theoretical analysis and the experimental results. Based on this model, the influence of various factors such as rotational speed, moment of inertia, torsional stiffness, and transmission error on the nonlinear torsional vibration of harmonic gear reducer was discussed. The results show that the vibration amplitude of harmonic gear reducer increases with the increase of speed, transmission error, and motor inertia, and decreases with the increase of load inertia and damping. The dynamic model and analysis method established in the study can provide the theoretical guidance for the optimal design and the vibration reduction of harmonic gear reducer.



中文翻译:

谐波齿轮减速机非线性扭振模型及各种因素对启停扭振的影响

由于谐波齿轮减速机中使用柔轮作为传动副,工业机器人在启动和停止过程中经常出现扭振问题。由于非线性刚度、传动误差等因素的影响,谐波齿轮减速器的非线性扭振会影响传动系统的稳定性和可靠性。本文根据谐波齿轮减速器的结构特点,综合考虑非线性扭转刚度、传动误差、啮合阻尼等因素,通过理论分析和实验建立了谐波齿轮减速器的非线性扭转动力学模型。结果。在此模型的基础上,考虑了转速、转动惯量、扭转刚度等各种因素的影响,并讨论了谐波齿轮减速器非线性扭振的传递误差。结果表明,谐波齿轮减速器的振幅随着转速、传动误差和电机惯量的增加而增加,随着负载惯量和阻尼的增加而减小。研究建立的动力学模型和分析方法可为谐波齿轮减速器的优化设计和减振提供理论指导。

更新日期:2021-07-09
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