Abstract
Abstract. In many mechatronic systems, gear transmission chains are often used to transmit motion and power between motors and loads, especially for light, small but large torque output systems. Gear transmission chains will inevitably bring backlash as well as elasticity of shafts and meshing teeth. All of these nonlinear factors will affect the performance of mechatronic systems. Anti-backlash gear systems can reduce the transmission error, but elasticity has to be considered too. The aim of this paper is to find the key parameters affecting the resonance and anti-resonance frequencies of anti-backlash gear systems and then to give the design optimization methods of improving performance, both from element parameters and mechanical designing. The anti-backlash geared servo system is modeled using a two-inertia approximate model; a method of computing the equivalent stiffness of anti-backlash gear train is proposed, which comprehensively considers the total backlash of transmission chain, gear mesh stiffness, gear shaft stiffness and torsional spring stiffness. With the s-domain block diagram model of the anti-backlash geared servo system, the influences of four main factors on the resonance and anti-resonance frequencies of system are analyzed by simulation according to the frequency response, and the simulation analysis results dependent on torsional spring stiffness of anti-backlash gear pair and load moment of inertia variation are verified by the experiment. The errors between simulation and experimental results are less than 10 Hz. With these simulation and experiment results, the design optimization methods of improving the resonance and anti-resonance frequencies such as designing the center distance adjusting mechanism to reduce the initial total backlash, increasing the stiffness of torsional spring and lightweight design of load are proposed in engineering applications.
Highlights
As a primary method of mechanical transmission, gear transmission is widely used in the precision servo mechanism field, such as robot, seeker and inertially stabilized platforms, which have the requirements of fast response, high positioning accuracy and good stability (Chung et al, 2010; Hilkert, 2008; Slamani and Bonev, 2013; Baek et al, 2003a)
The traditional gear transmission mechanisms have the disadvantages of backlash, friction and elasticity, which limit the performance of response, positioning accuracy and stability, and they are seriously restricted in the application of high-precision servo systems
A multistage torsional spring-loaded antibacklash gear transmission chain is designed to eliminate the backlash and to achieve a large output torque from a small input torque. Based on this transmission chain, this paper aims to find the key parameters affecting the resonance and anti-resonance frequencies of anti-backlash gear systems and to propose design optimization methods of improving performance, both from element parameters and mechanical designing
Summary
As a primary method of mechanical transmission, gear transmission is widely used in the precision servo mechanism field, such as robot, seeker and inertially stabilized platforms, which have the requirements of fast response, high positioning accuracy and good stability (Chung et al, 2010; Hilkert, 2008; Slamani and Bonev, 2013; Baek et al, 2003a). The traditional gear transmission mechanisms have the disadvantages of backlash, friction and elasticity, which limit the performance of response, positioning accuracy and stability, and they are seriously restricted in the application of high-precision servo systems. To solve these problems, researchers and engineers proposed several solutions, one of which is to choose the principle of the transmission mechanism. Using the harmonic gear can eliminate backlash effectively, but friction and flexibility of the transmission chain are increased (Vassileva et al, 2011; Masoumi and Alimohammadi, 2013), and using direct drive principle can omit the transmission chain. The friction is reduced, backlash is eliminated, and the mechanical stiffness
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