Kinematic error analysis of the rotor vector gear reducer with machining tolerances
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(2020) 42:566
TECHNICAL PAPER
Kinematic error analysis of the rotor vector gear reducer with machining tolerances Kun‑Yu Wu1 · Yi‑Pei Shih2 · Jyh‑Jone Lee1 Received: 26 July 2019 / Accepted: 25 September 2020 © The Brazilian Society of Mechanical Sciences and Engineering 2020
Abstract The rotor vector (RV) gear reducer is a mechanism used for motion and torque transmission. With characteristics similar to a traditional cycloidal gear drive, it has been popularly applied in precision machinery because of its high-speed reduction ratio, large torque capacity, and high efficiency. In this work, we aim to analyze the kinematic error (transmission error) of the RV reducer with manufacturing and/or assembly tolerances. Formulae for the kinematic error are established by using the theory of gearing as well as tooth contact analysis. Subsequently, sensitivities of the kinematic error with respect to various design parameters are investigated. Lastly, a process to simulate the distribution of maximum kinematic errors of the gear reducer with various tolerance grades of the parts is developed via Monte Carlo method. It is shown that through selected tolerance control on the machine parts, the accuracy of the gear drive can be retained. The results of this work can be useful for controlling the manufacturing precision on the machine parts and assessing the overall accuracy of the mechanism in the design phase. Keywords Rotor vector gear reducer · Kinematic error · Tooth contact analysis · Tolerance analysis · Monte Carlo method
1 Introduction The rotor vector (RV) gear reducer is a particular type of gear drive that consists of cylindrical gears and cycloidal gears. They are typically used in machinery that requires high-accuracy output and have large payloads, such as heavy-duty industrial robots, machine tools, automated equipment, etc. Compared with traditional cycloidal gear reducers, the RV gear reducer has the advantages of high rigidity and a wide range of gear reduction ratios due to its multiple parallel structures in the device, as well as its two stages of gear train units. It is also these characteristics that make the precision control of such device a demanding task throughout the design, manufacturing, and assembly phases.
Technical Editor: Zilda de Castro Silveira, Ph.D. * Jyh‑Jone Lee [email protected] 1
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
2
Research on traditional cycloidal gear reducers has been investigated for different subjects such as the methods of profile generation for cycloidal teeth [1–3], manufacturing errors and their effect on output [4–9], design of new mechanisms [10–13], mechanics analysis [14–17], etc. Literature that addresses the performance of RV gear reducers can also be found in areas as accuracy analysis, assembly methods, and dynamics. Hidaka et al. and their group [18–20] perhaps were the first researchers to a
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