Gear backlash modeling and tolerance simulation of fully gear-coupled robot

doi:10.3785/j.issn.1008-973X.2024.08.001

Journal of ZheJiang University (Engineering Science)

2024, Vol. 58

Issue (8): 1533-1542 DOI: 10.3785/j.issn.1008-973X.2024.08.001

Gear backlash modeling and tolerance simulation of fully gear-coupled robot

Junxia JIANG1(

),Xiaoou ZHONG1,Lincan LV1,Jianliang LAI2,Dingcan JIN2

1. School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
2. Hangzhou Jingye Intelligent Technology Limited Company, Hangzhou 310051, China

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Abstract

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.

Key words： fully gear-coupled robot gear backlash cylinder gear mechanism bevel gear mechanism tolerance simulation

Received: 12 August 2023 Published: 23 July 2024

CLC:

TH 132

Fund: 2022年度浙江省科技计划资助项目（2022C01054）；浙江大学机器人研究院自主科研项目资金资助项目.

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	Junxia JIANG
	Xiaoou ZHONG
	Lincan LV
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	Dingcan JIN

Cite this article:

Junxia JIANG,Xiaoou ZHONG,Lincan LV,Jianliang LAI,Dingcan JIN. Gear backlash modeling and tolerance simulation of fully gear-coupled robot. Journal of ZheJiang University (Engineering Science), 2024, 58(8): 1533-1542.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2024.08.001 OR https://www.zjujournals.com/eng/Y2024/V58/I8/1533

全齿轮耦合机器人齿侧间隙建模与公差仿真

鉴于全齿轮耦合机器人齿轮传动链长、反转频率高的特点，分析机器人的结构和传动原理. 为了减小侧隙对机器人传动精度的影响，提出齿侧间隙理论建模及三维公差仿真分析方法. 针对驱动端的圆柱齿轮机构，对齿侧间隙进行理论建模和公差仿真分析，两者相吻合. 针对关节处的圆锥齿轮机构，提出将圆锥齿轮副等效为假想圆柱齿轮副的侧隙建模方法，与公差仿真分析结果吻合. 以机器人肩关节偏摆传动链为分析对象计算机器人末端误差，为了降低齿侧间隙及其导致的传动链回程误差，提出圆锥齿轮加垫的计算方法和电机转角补偿方法，通过实验验证该补偿方法的有效性.

关键词： 全齿轮耦合机器人, 齿侧间隙, 圆柱齿轮机构, 圆锥齿轮机构, 公差仿真

Fig.1 Structure and transmission principle of fully gear-coupled robot

Fig.2 Principle of shoulder joint transmission chain

Fig.3 Structure of shoulder joint swing transmission chain

Fig.4 Backlash of gear pair

Fig.5 Schematic diagram of bevel gear pairs and imaginary cylindrical gear pairs

Tab.1 Parameter and tolerance of cylindrical gear mechanism

Tab.2 Cylindrical gear transmission parameter

Fig.6 Simulation result of cylindrical normal backlash

Tab.3 Contribution of cylindrical gear tolerance

Tab.4 Comparison of normal backlash of cylindrical gear mechanism

Fig.7 Side backlash relationship between bevel gear pairs and imaginary cylindrical gear pairs

Tab.5 Parameter and tolerance of bevel gear mechanism

Tab.6 Bevel gear transmission parameter

Fig.8 Simulation result of bevel normal backlash

Tab.7 Tolerance contribution of bevel gear

Tab.8 Comparison of normal backlash of bevel gear mechanism

Fig.9 L-shaped posture of robot shoulder joint

Fig.10 End position measurement experiment

Fig.11 Handheld probe coordinate measuring machine


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