反冲
小齿轮
计算机科学
控制理论(社会学)
类型(生物学)
汽车工程
工程类
机械工程
机架
人工智能
地质学
控制(管理)
古生物学
作者
Qinghao Du,Tuopu Zhang,Guilin Yang,Chin-Yin Chen,Weijun Wang,Chi Zhang
标识
DOI:10.1007/978-981-99-6489-5_31
摘要
The 3K-type Planetary Gear Train (PGT) with a high reduction ratio and high backdrivability is suitable for enhancing the human-robot interaction performance of collaborative robots. However, the low accuracy of 3K-type PGT is an urgent problem. The backlash analysis of the 3K-type PGT is critical to evaluate its transmission accuracy. To calculate the backlash of 3K-type PGT directly based on the design parameters, an analytical backlash model is established based on an equivalent pinion-rack model. Moreover, the analytical backlash model is modified further for a novel 3K-type PGT with a flexure-based anti-backlash carrier to analyze the effects of the opening angle of the flexure-based carrier on the backlash. Through the simulations and experiments on the prototypes, the effectiveness and accuracy of the established analytical backlash model are verified.
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