全齿轮耦合机器人齿侧间隙建模与公差仿真  

Gear backlash modeling and tolerance simulation of fully gear-coupled robot

作　　者：蒋君侠[1] 仲笑欧 吕林灿 来建良 金丁灿 JIANG Junxia;ZHONG Xiaoou;LV Lincan;LAI Jianliang;JIN Dingcan(School of Mechanical Engineering,Zhejiang University,Hangzhou 310058,China;Hangzhou Jingye Intelligent Technology Limited Company,Hangzhou 310051,China)

机构地区：[1]浙江大学机械工程学院,浙江杭州310058 [2]杭州景业智能科技股份有限公司,浙江杭州310051

出　　处：《浙江大学学报（工学版）》2024年第8期1533-1542,共10页Journal of Zhejiang University：Engineering Science

基　　金：2022年度浙江省科技计划资助项目(2022C01054);浙江大学机器人研究院自主科研项目资金资助项目.

摘　　要：鉴于全齿轮耦合机器人齿轮传动链长、反转频率高的特点,分析机器人的结构和传动原理.为了减小侧隙对机器人传动精度的影响,提出齿侧间隙理论建模及三维公差仿真分析方法.针对驱动端的圆柱齿轮机构,对齿侧间隙进行理论建模和公差仿真分析,两者相吻合.针对关节处的圆锥齿轮机构,提出将圆锥齿轮副等效为假想圆柱齿轮副的侧隙建模方法,与公差仿真分析结果吻合.以机器人肩关节偏摆传动链为分析对象计算机器人末端误差,为了降低齿侧间隙及其导致的传动链回程误差,提出圆锥齿轮加垫的计算方法和电机转角补偿方法,通过实验验证该补偿方法的有效性.The robot’s structure and transmission principles were analyzed given the characteristics of long gear transmission chains and high reverse frequency in fully gear-coupled robots.Theoretical modeling of gear backlash and a three-dimensional tolerance simulation analysis method were proposed to reduce the impact of backlash on the transmission accuracy of robots.The theoretical modeling and the tolerance simulation analysis of gear backlash were conducted for the cylindrical gear mechanism at the drive end.The two results were consistent.An equivalent backlash modeling method that equivalents the bevel gear pair as a hypothetical cylindrical gear pair was proposed for the bevel gear mechanism in joints,and the theoretical modeling analysis result accorded with the tolerance simulation analysis results.The end error of the robot was calculated by taking the robot shoulder joint swing transmission chain as the analysis object.The calculation method of bevel gear backlash and the motor angle compensation method were proposed to reduce gear backlash and the return error of the transmission chain caused by the gear backlash.The effectiveness of this compensation method was validated through experiment.

关 键 词：全齿轮耦合机器人 齿侧间隙 圆柱齿轮机构 圆锥齿轮机构 公差仿真 

分 类 号：TH132[机械工程—机械制造及自动化]