Jixie chuandong (Oct 2022)
Analysis of Inherent Characteristics of Robot Joint Transmission System
Abstract
As the core component of robots, the robot joint is mainly composed of drive control system and multi-stage gear transmission system. Under high speed and high load, the dynamic characteristics of gear transmission system are more complex. Taking the gear transmission system in the robot joint as the research object, the translation torsion coupling dynamic model is established by using the lumped parameter method, and the dynamic equations of each component are established according to Newton's second law. Therefore, the natural frequency, modal strain energy and modal kinetic energy of the system are analyzed, and the influence of system parameters on natural frequency is studied. The results show that for the modal energy of the system, the total strain energy is the largest at the 15th natural frequency, the overall deformation of the system is the largest, the total kinetic energy is the largest at the 24th natural frequency, and the vibration of the system is the most intense at this natural frequency; the influence of system parameters on natural frequency is mainly reflected in that higher-order natural frequency is obviously affected; affected by the change of system stiffness, some natural frequency trajectory curves gradually approach, and will quickly separate with large curvature near a certain point, resulting in modal transition. When the frequencies are similar, they will transition again.
