Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

Zero-backlash high-precision roller enveloping reducers (ZHPRER) possess a wide array of potential applications in the field of industrial robot because of their high precision and efficiency. This paper presents a pilot study to verify the applicability of this type of reducers in industrial robots. An industrial robot was designed such that its joint reducers were the roller enveloping reducers. A dynamic model for this robot which accounts for the dynamic responses of the reducers was also established using multibody dynamics. This dynamic model was then used for analyzing the dynamic behavior of the joint reducers and the body of the robot under different operating conditions. Simulation results yielded from the developed model were verified by comparing them with the data obtained from experiments. The present study for the first time confirms the evident advantages of ZHPRER for industrial robotic applications. Meanwhile, the proposed dynamic model for the industrial robot provides theoretical support for the subsequent design of error compensation control.