Rigid-flexible Coupling Dynamics Simulation of a Servo Motor Planetary Reducer for Robot Joint

Jianqing Zhou; Fuzheng Qu

doi:10.16578/j.issn.1004.2539.2021.10.014

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Rigid-flexible Coupling Dynamics Simulation of a Servo Motor Planetary Reducer for Robot Joint

Design· Calculation | 更新时间：2022-11-10

- Rigid-flexible Coupling Dynamics Simulation of a Servo Motor Planetary Reducer for Robot Joint
- Journal of Mechanical Transmission Vol. 45, Issue 10, Pages: 91-95(2021)
- 作者机构：
  
  1.大连理工大学机械工程学院，辽宁大连 116024
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.10.014
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周剑青,屈福政.一种机器人关节用伺服电机行星减速器的刚柔耦合动力学仿真[J].机械传动,2021,45(10):91-95.

Zhou Jianqing,Qu Fuzheng.Rigid-flexible Coupling Dynamics Simulation of a Servo Motor Planetary Reducer for Robot Joint[J].Journal of Mechanical Transmission,2021,45(10):91-95.
周剑青,屈福政.一种机器人关节用伺服电机行星减速器的刚柔耦合动力学仿真[J].机械传动,2021,45(10):91-95. DOI： 10.16578/j.issn.1004.2539.2021.10.014.

Zhou Jianqing,Qu Fuzheng.Rigid-flexible Coupling Dynamics Simulation of a Servo Motor Planetary Reducer for Robot Joint[J].Journal of Mechanical Transmission,2021,45(10):91-95. DOI： 10.16578/j.issn.1004.2539.2021.10.014.

摘要

关节电机是足式机器人核心部件之一，其动态响应直接影响着机器人的性能。其中的行星减速器属于精密机械传动机构，其传动精度与关键零件的变形密切相关。利用Adams建立了关节电机行星减速器刚柔耦合动力学仿真模型，模拟在启动过程中的瞬态输出特性。模型中对关键零件进行柔性化处理，设置各零件间的运动副约束，利用Hertz接触理论计算了行星轮与太阳轮、内齿圈的接触刚度系数。仿真结果表明，关节电机的动态特性与加速时间和惯性载荷密切相关，较大的加速时间与较小的惯性载荷有利于提高其动态性能。

Abstract

The joint motor is one of the core components of the foot robot，and its dynamic response directly affects the performance of the robot. Among them，the planetary reducer is a precision mechanical transmission mechanism，and its transmission accuracy is closely related to the deformation of key parts. Therefore，by using Adams，a rigid-flexible coupling dynamics simulation model of the joint motor is established to simulate the transient output characteristics during the startup process. In the model，the key parts are flexibly processed，and the motion pair constraints between the parts are set. The Hertz contact theory is used to calculate the contact stiffness coefficient of the planetary gear and the sun gear and the inner gear ring. The simulation results show that the dynamic characteristics of the joint motor are closely related to the acceleration time and inertial load. A larger acceleration time and a smaller inertial load are beneficial to improve its dynamic performance.

关键词

关节电机行星减速器动力学仿真

Keywords

Joint motorPlanetary reducerDynamics simulation

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