Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots
The dynamic characteristics of high-precision planetary reducers in terms of vibration response and dynamic transmission error have a significant impact on positioning accuracy and service life. However, the dynamics of high-precision two-stage helical planetary reducers have not been studied extens...
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MDPI AG
2025-03-01
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| author | Wenzhao Lin Dongdong Chang Hao Li Junhua Chen Fangping Huang |
| author_facet | Wenzhao Lin Dongdong Chang Hao Li Junhua Chen Fangping Huang |
| author_sort | Wenzhao Lin |
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| description | The dynamic characteristics of high-precision planetary reducers in terms of vibration response and dynamic transmission error have a significant impact on positioning accuracy and service life. However, the dynamics of high-precision two-stage helical planetary reducers have not been studied extensively enough and must be studied in depth. In this paper, the dynamic characteristics of the high-precision two-stage helical planetary reducer are investigated in combination with simulation tests, and the microscopic modification of the gears is optimized by the helix modification with drums, with the objective of reducing the vibration response and dynamic transmission error. Considering the time-varying meshing stiffness of gears and transmission errors, a translation–torsion coupled dynamics model of a two-stage helical planetary gear drive is established based on the Lagrange equations by using the centralized parameter method for analyzing the dynamic characteristics of the reducer. The differential equations of the system were derived by analyzing the relative displacement relationship between the components. On this basis, a finite element model of a certain type of high-precision reducer was established, and factors such as rotate speed and load were investigated through simulation and experimental comparison to quantify or characterize their effects on the dynamic behavior and transmission accuracy. Based on the combined modification method of helix modification with drum shape, the optimized design of this type of reducer is carried out, and the dynamic characteristics of the reducer before and after modification are compared and analyzed. The results show that the adopted modification optimization method is effective in reducing the vibration amplitude and transmission error amplitude of the reducer. The peak-to-peak value of transmission error of the reducer is reduced by 19.87%; the peak value of vibration acceleration is reduced by 14.29%; and the RMS value is reduced by 21.05% under the input speed of 500 r/min and the load of 50 N·m. The research results can provide a theoretical basis for the study of dynamic characteristics, fault diagnosis, optimization of meshing parameters, and structural optimization of planetary reducers. |
| format | Article |
| id | doaj-art-b347d08473c541cc8ca9836561783c3e |
| institution | OA Journals |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
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| series | Machines |
| spelling | doaj-art-b347d08473c541cc8ca9836561783c3e2025-08-20T01:48:48ZengMDPI AGMachines2075-17022025-03-0113324510.3390/machines13030245Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for RobotsWenzhao Lin0Dongdong Chang1Hao Li2Junhua Chen3Fangping Huang4School of Science and Technology, Ningbo University, Ningbo 315300, ChinaSchool of Science and Technology, Ningbo University, Ningbo 315300, ChinaSchool of Science and Technology, Ningbo University, Ningbo 315300, ChinaSchool of Science and Technology, Ningbo University, Ningbo 315300, ChinaSchool of Science and Technology, Ningbo University, Ningbo 315300, ChinaThe dynamic characteristics of high-precision planetary reducers in terms of vibration response and dynamic transmission error have a significant impact on positioning accuracy and service life. However, the dynamics of high-precision two-stage helical planetary reducers have not been studied extensively enough and must be studied in depth. In this paper, the dynamic characteristics of the high-precision two-stage helical planetary reducer are investigated in combination with simulation tests, and the microscopic modification of the gears is optimized by the helix modification with drums, with the objective of reducing the vibration response and dynamic transmission error. Considering the time-varying meshing stiffness of gears and transmission errors, a translation–torsion coupled dynamics model of a two-stage helical planetary gear drive is established based on the Lagrange equations by using the centralized parameter method for analyzing the dynamic characteristics of the reducer. The differential equations of the system were derived by analyzing the relative displacement relationship between the components. On this basis, a finite element model of a certain type of high-precision reducer was established, and factors such as rotate speed and load were investigated through simulation and experimental comparison to quantify or characterize their effects on the dynamic behavior and transmission accuracy. Based on the combined modification method of helix modification with drum shape, the optimized design of this type of reducer is carried out, and the dynamic characteristics of the reducer before and after modification are compared and analyzed. The results show that the adopted modification optimization method is effective in reducing the vibration amplitude and transmission error amplitude of the reducer. The peak-to-peak value of transmission error of the reducer is reduced by 19.87%; the peak value of vibration acceleration is reduced by 14.29%; and the RMS value is reduced by 21.05% under the input speed of 500 r/min and the load of 50 N·m. The research results can provide a theoretical basis for the study of dynamic characteristics, fault diagnosis, optimization of meshing parameters, and structural optimization of planetary reducers.https://www.mdpi.com/2075-1702/13/3/245planetary reducerdynamic characteristicsvibration responsemodal analysistransmission error |
| spellingShingle | Wenzhao Lin Dongdong Chang Hao Li Junhua Chen Fangping Huang Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots Machines planetary reducer dynamic characteristics vibration response modal analysis transmission error |
| title | Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots |
| title_full | Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots |
| title_fullStr | Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots |
| title_full_unstemmed | Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots |
| title_short | Dynamic Characteristics Analysis and Optimization Design of Two-Stage Helix Planetary Reducer for Robots |
| title_sort | dynamic characteristics analysis and optimization design of two stage helix planetary reducer for robots |
| topic | planetary reducer dynamic characteristics vibration response modal analysis transmission error |
| url | https://www.mdpi.com/2075-1702/13/3/245 |
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