Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot

Based on the characteristics of high error sensitivity and large load capacity of the shoulder joint of the upper limb rehabilitation robot relative to other joints, an involute planetary reducer with small tooth number difference is applied to its shoulder joint drive in this study. Considering the...

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Main Authors: Zou Shuaidong, Wang Guangjian, Xie Guanghui, Hou Jingming, Yang Renqiang, Sun Fanwei
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2024-07-01
Series:Jixie chuandong
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Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.07.017
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author Zou Shuaidong
Wang Guangjian
Xie Guanghui
Hou Jingming
Yang Renqiang
Sun Fanwei
author_facet Zou Shuaidong
Wang Guangjian
Xie Guanghui
Hou Jingming
Yang Renqiang
Sun Fanwei
author_sort Zou Shuaidong
collection DOAJ
description Based on the characteristics of high error sensitivity and large load capacity of the shoulder joint of the upper limb rehabilitation robot relative to other joints, an involute planetary reducer with small tooth number difference is applied to its shoulder joint drive in this study. Considering the main factors of transmission errors caused by machining and assembly errors, the analytical calculation model of transmission errors of the planetary reducer with small tooth number difference is established based on the mesh line increment method. From the perspective of statistics, Monte Carlo method is used to analyze the effects of eccentricity error and initial phase on the transmission accuracy of the shoulder joint of upper limb rehabilitation robots. Based on the analytical model of shoulder joint transmission accuracy, the output torque fluctuation caused by transmission error is analyzed and particle swarm optimization algorithm is adopted to optimize transmission accuracy under the condition of constant machining accuracy, so as to improve the output torque fluctuation caused by transmission error of the shoulder joint of the upper limb rehabilitation robot to avoid the secondary injury of the patients.
format Article
id doaj-art-98493d9df7d049418feaf06c9e387aa8
institution Kabale University
issn 1004-2539
language zho
publishDate 2024-07-01
publisher Editorial Office of Journal of Mechanical Transmission
record_format Article
series Jixie chuandong
spelling doaj-art-98493d9df7d049418feaf06c9e387aa82025-01-10T15:00:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-07-014813714266779613Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation RobotZou ShuaidongWang GuangjianXie GuanghuiHou JingmingYang RenqiangSun FanweiBased on the characteristics of high error sensitivity and large load capacity of the shoulder joint of the upper limb rehabilitation robot relative to other joints, an involute planetary reducer with small tooth number difference is applied to its shoulder joint drive in this study. Considering the main factors of transmission errors caused by machining and assembly errors, the analytical calculation model of transmission errors of the planetary reducer with small tooth number difference is established based on the mesh line increment method. From the perspective of statistics, Monte Carlo method is used to analyze the effects of eccentricity error and initial phase on the transmission accuracy of the shoulder joint of upper limb rehabilitation robots. Based on the analytical model of shoulder joint transmission accuracy, the output torque fluctuation caused by transmission error is analyzed and particle swarm optimization algorithm is adopted to optimize transmission accuracy under the condition of constant machining accuracy, so as to improve the output torque fluctuation caused by transmission error of the shoulder joint of the upper limb rehabilitation robot to avoid the secondary injury of the patients.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.07.017Upper limb rehabilitation robotShoulder joint reducerTransmission accuracyOptimization
spellingShingle Zou Shuaidong
Wang Guangjian
Xie Guanghui
Hou Jingming
Yang Renqiang
Sun Fanwei
Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot
Jixie chuandong
Upper limb rehabilitation robot
Shoulder joint reducer
Transmission accuracy
Optimization
title Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot
title_full Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot
title_fullStr Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot
title_full_unstemmed Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot
title_short Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot
title_sort analysis and optimization on transmission accuracy of shoulder joint reducer for an upper limb rehabilitation robot
topic Upper limb rehabilitation robot
Shoulder joint reducer
Transmission accuracy
Optimization
url http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.07.017
work_keys_str_mv AT zoushuaidong analysisandoptimizationontransmissionaccuracyofshoulderjointreducerforanupperlimbrehabilitationrobot
AT wangguangjian analysisandoptimizationontransmissionaccuracyofshoulderjointreducerforanupperlimbrehabilitationrobot
AT xieguanghui analysisandoptimizationontransmissionaccuracyofshoulderjointreducerforanupperlimbrehabilitationrobot
AT houjingming analysisandoptimizationontransmissionaccuracyofshoulderjointreducerforanupperlimbrehabilitationrobot
AT yangrenqiang analysisandoptimizationontransmissionaccuracyofshoulderjointreducerforanupperlimbrehabilitationrobot
AT sunfanwei analysisandoptimizationontransmissionaccuracyofshoulderjointreducerforanupperlimbrehabilitationrobot