Planetary Reducer Research Articles

3A1-X02 振動翼推進型魚ロボットの開発 : 小離鰭と超音波センサを搭載したTDUNA5-2013bの開発(バイオミメティクス・バイオメカトロニクス)

We have developed oscillation wing propulsion type fish robots called TDUNA5-2013 which were modeled tuna. This robot was powered by a 2.6kW DC Brushless motor and made swinging oscillated motion of caudal fin by a Scotch-yoke mechanism through planetary reduction gears. The caudal fin is rigid body with high aspect ratio and it has loosen ligaments to generate angles for the thrust force. The outer jacket is made of ABS resin using FDM type 3D printer and it is separated into three parts, a head, a body and a tail. The head is oscillated to the same phase of the tail oscillation by the reduced angle. This motion is generated by the movement of the pivot shaft of the tail oscillation. The total length is about 1750 mm. The experimental results of our previous study, however, showed that the water-proofing method of the outer jacket, oscillation mechanism, and the electrical parts are imperfect and we had to change the water-proofing method. In this paper, we modified the construction of the case of the oscillation mechanism. We also investigated the water-proofing method of the midair construction ABS block made by 3D printer. By using this water-proofing method, we newly reconstructed the three outer jacket parts. In our new jacket parts, we can install five supersonic sensors in the head, and finlets in the tail. We call our robot in this configuration as TDUNA5-2013b. In the first trial of the swimming experiments, however, the oscillation mechanism and its case was broken due to the insufficiency of fixation between the mechanism and the case. We are now repairing them and the experimental results of TDUNA5-2013b will be presented at the conference.

A study on the safety electric grass cutter system using the planetary reduction gear device

The engine-based grass cutter coming into the widest use as of now is equipped with superior cutting force. However with high rotary power at the same time that entails a significant risk of causing fatal injury on human body due to particles occurred from stones or woods in the middle of operation. In addition, it produces a significant amount of exhaust gas occurred from combustion stroke and also hazard materials on human body and environment due to insufficient filtering equipment for exhaust gas. Therefore, this study has designed a specific mechanism on the drive head for reducing the rotary power by using planet gear tools and also proceeded durability test on the motor of electronic grass cutter with major source of power from motor by utilizing electricity in order to supplement aforementioned issues. In addition, a strength test on the safe frame from electronic grass cutter equipped with torque limiter for preventing damage on the electronic tools and negligent accident has been performed at the same time to specifically develop safe electronic grass cutter.

Study on Nonlinear Dynamics of Planetary Reducer

Based on nonlinear vibration theory and synthesizing harmonic balance method, numerical analysis method and reducer vibration test, the paper studies the characteristics of traditional systematic nonlinear dynamics. Based on harmonic balance method, the paper deduces the frequency response equation in the range of the whole frequency and studies magnitude-frequency characteristic. The accuracy of the model is verified by comparing with traditional model. Lumped mass method is used to construct nonlinear dynamics model of 2K-H planetary reducer drive mechanism in new hybrid cars double motor drive system. And the paper makes detailed and deeper analysis on response variation rules of the system and meshing stock state of gear pair with different parameters. Through the analysis of the relevant parameters, the planetary reducer is to have a more profound understanding, laid the foundation for future optimization design.

Dynamics Simulation and Analysis of Planetary Reducer

Taking a planetary reducer in an electric vehicle as the object of study, a rigid-flexible coupling model was established to perform the dynamics simulation. The variational regularities of the meshing forces, output speed and acting forces of bearings were obtained, and then a finite element analysis of the planet carrier was carried out. This method can not only solve the problem of the boundary conditions of planet carrier which are difficult to define in finite element analysis, but also improve the accuracy of analysis results when the influence of carrier flexibility on the whole system is considered in dynamics simulation, which lays the foundation for further research on reducers.

New Design of Reduction Device of Column Electric Power Steering System

EPS is the abbreviation of electric power steering system and reduction device is one of the key parts of the EPS. It determines whether the steering system works normally. This paper studies the deceleration mechanism of EPS and in accordance with its assistance characteristic, designs a new deceleration device that Cycloid steel ball planetary reducer, and gives the specific design and implementation of the program. Combined with steering portability needs, this paper gives the specific reduction ratio calculation and the deceleration mechanism design.

Mechanical Performance Simulation Model Based on PDM

In order to manage the complex simulation data management in the process of mechanical dynamics simulation, a new management model was presented which is Performance Simulation Model(PSM). The model was based on PDM product structure and the concepts and elements of PSM were defined in this paper. Furthermore, the functional framework of PSM was proposed which based on the hierarchical relationship of product structure and the data stream relationship of data structure matrix. Finally, PSM was applied on ship planetary reducer collaborative simulation platform. The result indicates that the simulation data in mechanical collaborative simulation are managed by PSM, and the problem of interaction between collaborative simulation and PDM is solved.

Modal Analysis on Transmission Gear Train of Planetary Reducer

The planetary reducer has both internal incentive of varying mesh stiffness and external incentive of eccentric quality, which are prone to vibration and noise at work. This paper use ANSYS Workbench to build model, divide grid and carry out modal analysis for transmission gear train of Planetary reducer, and calculate the 6 order modes. The modal analysis result is compared with excited frequency and natural frequency respectively. This paper’s modal analysis is more accuracy, more rational and more scientific than the previous experience design and statics analysis. It not only provides the useful date for acoustic analysis of planetary reducer, but also provides theory basis for avoiding planetary reducer resonance, and lays a foundation for the whole system dynamic response calculation and analysis.

Applied Research on Optimum Design of Planetary Reducer

Reliability optimum design of the mechanical system is studied thoroughly based on the existing research results. Taking the 2K-H planetary reducer of PCP system as the physical mode, the main target of optimization is module, breadth of tooth and number of teeth. The objective function for obtaining a smaller gearbox volume is set up and the requirement of reliability is taken into account. The optimum solution is obtained by the complex method. The result is in conformity with the requirement and it indicates that the synthesis effect is satisfied. The reduction of volume is beneficial to improve PCP system performance.

A mathematical model for a more precise determination of complex errors of satellite units of planetary gears

In the paper, practical control methods for complex errors of satellite units of planetary reducers used in manufacturing plants are considered. Proposals to improve the evaluation accuracy of these errors are formulated. A mathematical model for implementing these proposals is presented.

Reliability Analysis Based on Efficient Simulation

In the practical engineering, to solve the small failure probabilities with correlated high-dimensional variables, the subset simulation (SS) is combined together with the Monte Carlo and importance sampling (IS) method. The samples from the probability density functions (PDF) of the importance sampling are used to construct the intermediate failure events, by which the small failure probabilities are turned into a Markov chain (MC), which is a continuous product made of a series large failure probability or conditional failure probability (CFP) which is easily answered, on which the structural reliability can be efficiently simulated by directly obtaining the samples with correlated ones. Finally, the 3 planet carriers of 3 grade planetary reducers in shield tunneling machine(STM) are as examples to check the algorithm above, the results show that the SS of the IS with correlated variables can highly simulate failure probability.

RESEARCH ON DESIGN METHOD OF DEMAND-DRIVEN PRODUCT CONFIGURATION FOR MASS CUSTOMIZATION

This paper proposed demand-driven personalized product configuration design method. A variety of customer orders were clustered and fuzzy transformed; using ontology's feature to establish customer demand ontology model; in order to enable the product family to meet the dynamic demand of customers, established mapping relationship of customer demands and product family; using ontology to express product family model, achieved mapping of customer needs ontology and product family ontology, and improved efficiency of product configuration. Finally, we take planetary reducer as an example to demonstrate the feasibility of the method.

Transmission Efficiency Analysis of pin-Cycloid Planetary Gearing Reducer Applying Two-Stage Speed Reduction Used in Propeller Pitch Variator

This paper introduces a pin-cycloid planetary gearing reducer in two teeth difference applied in propeller pitch variator. To be considered, the main factors are pin-cycloid gear meshing efficiency, bearing efficiency and output mechanism efficiency. Finally, the transmission efficiency of this new-type reducer is calculated by the inverted mechanism method, which is the foundation of prototype test in future.

Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning

This paper presents implementation of optimal search strategy (OSS) in verification of assembly process based on neural vibration learning. The application problem is the complex robot assembly of miniature parts in the example of mating the gears of one multistage planetary speed reducer. Assembly of tube over the planetary gears was noticed as the most difficult problem of overall assembly. The favourable influence of vibration and rotation movement on compensation of tolerance was also observed. With the proposed neural-network-based learning algorithm, it is possible to find extended scope of vibration state parameter. Using optimal search strategy based on minimal distance path between vibration parameter stage sets (amplitude and frequencies of robots gripe vibration) and recovery parameter algorithm, we can improve the robot assembly behaviour, that is, allow the fastest possible way of mating. We have verified by using simulation programs that search strategy is suitable for the situation of unexpected events due to uncertainties.

Fundamentals of the design of chain planetary reduction gear units with fine-module toothed chains

Fundamentals of the design of chain planetary reduction gear units with fine-module toothed chains

Three-dimensional Parametric Design of NGW Planetary Reducer

Three-dimensional Parametric Design of NGW Planetary Reducer

Mechanical and Pneumatic Coupling of the Pneumatic Motor with Offset Swinging Planetary Drive of Bevel Gears

A new kind of pneumatic motor with offset swing planetary drive of bevel gears and the application in Capstan is presented; the researched of the calculation of the efficiency of the mechanism is made. Compeered to the former structure, new kind of structure have many advantages over that of the old structure. The pneumatic driving system in the traditional derrick car is: pneumatic motor drives a reducer, and then the reducer in turn drives a capstan. Another pneumatic driving system is: an axial piston motor and an internal cycloid pinwheel drive are applied, so that the reducer and the capstan are combined into one so that simplified the transmission system. In the third version, a pneumatic motor is applied, which can be considered as the combination of pneumatic motor with axial piston and the planetary reducer and, then drives the capstan, so that simplified the transmission system as well. The new kind of pneumatic motor with offset swing planetary drive of bevel gears, which combined the pneumatic motor, the internal planetary reducer with bevel gears, and the capstan together, is the most compact structure. It is of more advantage in the occasion when space is extremely limited. In the paper, two kind of construction of this mechanism is presented, and the analysis of the efficiency of this kind of transmission is made as well.

Rigid-Flexible Virtual Prototyping Study of Planetary Gear Reducer for Shearer Cutting Unit

In this research, three-dimensional simplified model for the planetary gear reducer of a certain large-scale shearer cutting unit is established by the use of UG NX5, and it is imported into ADAMS/View environment through the UG interface with ADAMS. While ANSYS is used to generate the flexible body of key parts such as sun gear, high-speed planet gear and low-speed planet gear, and then in ADAMS the flexible body is used to replace the corresponding parts of planetary reducer rigid body model, which aims to set up virtual rigid-flexible prototype model of planetary reducer. Finally, kinematics simulation was done. The simulation results show that the virtual prototype model of each component motion displays smooth without interference and the transmission ratio meets the design request. Meanwhile, the planetary gear mechanism design is proved to be very correct.

Clamping-Force Control for Electromechanical Brake

The estimation of the frictional and clamping forces is one of the key issues in the design and implementation of the electromechanical brake (EMB) system. In this paper, a clamping-force control algorithm is presented along with a consideration of the frictional characteristics and the estimation of the clamping force for a planetary reduction gear-type EMB. The frictional model is developed by including the frictional effect of the motor, the planetary gear, and the screw thread. Since the clamping-force estimation requires the distance of the contact gap between the pad and the disk, an initial gap-distance control algorithm that uses the gradient change of the motor torque is proposed. This paper is concluded with a discussion of the performance of the control algorithm by comparing the simulation results with the experimental results.

Fundamentals of the design of chain planetary reduction gears with roller driving chains

В статье приводятся результаты исследования принципиально нового вида планетарных механизмов - механизмов с цепными гибкими связями. Рассмотрены основные схемы таких механизмов и приведены их характеристики. Предложенные схемы прошли опытную проверку при различных значениях передаточных отношений.

Multi-objective Optimization Design on Gear Train of Planetary Reducer in Shield Tunneling Machine Based on Reliably Grey Particle Swarm Optimization

The sigma is introduced into grey relational degree,the notion of reliably grey relational degree is creatively put forward to be used as mutation strategy to control the basic particle swarm optimization(PSO),which may avoid the problem that the algorithm prematurely falls into local optimum.For those variables called for integers,their initial position and speed of each flight are taken as integers,to ensure that the obtained solutions are integral.Meanwhile,to understand easily and operate conveniently,the mechanism and processes of the algorithm are illustrated,thus,a practical and convenient method is provided for multi-objective mixed integer programming problems subject to complex non-linear conditions.The mathematical models are constructed for planetary gear reducer in shield tunneling machine(STM) with 4 objective functions,that is to make its volume smallest,its efficiency highest and the reliability of its contacting and bending strength highest,which are subject to the conditions such as teeth,modification coefficient,interference,strength,equal strength and equal life on the basis of the 4 assumptions,which are solved by means of Matlab programming language compiled by using the reliably grey PSO.The research results show that generalization ability not only resolves the strength problem which is a little weak in the original 3rd grade of the planetary gear reducer,but also decreases the volume by 11.55% and increases the efficiency by 0.56% and the transmission ratio by 3.67%,and the strength and life in every grade are basically equal under the condition of ensuring high reliability.