Research on Dynamic Characteristics of Robot Joint System Under Impact Load
In order to study the electromechanical coupling mechanism of the micro-robot joints in the unsteady working state and considering the time-varying stiffness and error of gear meshing， a lumped parameter method is adopted to establish an electromechanical coupling model of the motor-driven two-stage...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.001 |
| _version_ | 1797819028081737728 |
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| author | Shuai Mo Xu Li Zhenning Yang Changpeng Zhou Guojian Cen Yunsheng Huang |
| author_facet | Shuai Mo Xu Li Zhenning Yang Changpeng Zhou Guojian Cen Yunsheng Huang |
| author_sort | Shuai Mo |
| collection | DOAJ |
| description | In order to study the electromechanical coupling mechanism of the micro-robot joints in the unsteady working state and considering the time-varying stiffness and error of gear meshing， a lumped parameter method is adopted to establish an electromechanical coupling model of the motor-driven two-stage series planetary gear transmission system. The influence of the natural frequency， and quality parameters of the system on the natural frequency of the system and the distribution law of modal energy is calculated and the torsional vibration characteristics of the gear system under impact load are analyzed. The research results show that as the quality of parts increases， the natural frequency of the system shows a downward trend. The modal energy of the system is mainly manifested as low-order torsional vibration strain energy and high-order kinetic energy. During the impact process， the system behaves as a vibration mode dominated by a first-order natural frequency and a one-time meshing frequency. |
| first_indexed | 2024-03-13T09:16:50Z |
| format | Article |
| id | doaj.art-17a5e6b40e68469bb0814a064f966af2 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:16:50Z |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-17a5e6b40e68469bb0814a064f966af22023-05-26T09:51:56ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-01-01461730484095Research on Dynamic Characteristics of Robot Joint System Under Impact LoadShuai MoXu LiZhenning YangChangpeng ZhouGuojian CenYunsheng HuangIn order to study the electromechanical coupling mechanism of the micro-robot joints in the unsteady working state and considering the time-varying stiffness and error of gear meshing， a lumped parameter method is adopted to establish an electromechanical coupling model of the motor-driven two-stage series planetary gear transmission system. The influence of the natural frequency， and quality parameters of the system on the natural frequency of the system and the distribution law of modal energy is calculated and the torsional vibration characteristics of the gear system under impact load are analyzed. The research results show that as the quality of parts increases， the natural frequency of the system shows a downward trend. The modal energy of the system is mainly manifested as low-order torsional vibration strain energy and high-order kinetic energy. During the impact process， the system behaves as a vibration mode dominated by a first-order natural frequency and a one-time meshing frequency.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.001Electromechanical coupling;Planetary transmission;Impact load;Inherent characteristics;Vibration mode |
| spellingShingle | Shuai Mo Xu Li Zhenning Yang Changpeng Zhou Guojian Cen Yunsheng Huang Research on Dynamic Characteristics of Robot Joint System Under Impact Load Jixie chuandong Electromechanical coupling;Planetary transmission;Impact load;Inherent characteristics;Vibration mode |
| title | Research on Dynamic Characteristics of Robot Joint System Under Impact Load |
| title_full | Research on Dynamic Characteristics of Robot Joint System Under Impact Load |
| title_fullStr | Research on Dynamic Characteristics of Robot Joint System Under Impact Load |
| title_full_unstemmed | Research on Dynamic Characteristics of Robot Joint System Under Impact Load |
| title_short | Research on Dynamic Characteristics of Robot Joint System Under Impact Load |
| title_sort | research on dynamic characteristics of robot joint system under impact load |
| topic | Electromechanical coupling;Planetary transmission;Impact load;Inherent characteristics;Vibration mode |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.001 |
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