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Analytical Backlash Model for 3K-type Planetary Gear Train with Flexure-Based Anti-backlash Carrier

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14269))

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Abstract

The 3K-type Planetary Gear Train (PGT) with a high reduction ratio and high backdrivability is suitable for enhancing the human-robot interaction performance of collaborative robots. However, the low accuracy of 3K-type PGT is an urgent problem. The backlash analysis of the 3K-type PGT is critical to evaluate its transmission accuracy. To calculate the backlash of 3K-type PGT directly based on the design parameters, an analytical backlash model is established based on an equivalent pinion-rack model. Moreover, the analytical backlash model is modified further for a novel 3K-type PGT with a flexure-based anti-backlash carrier to analyze the effects of the opening angle of the flexure-based carrier on the backlash. Through the simulations and experiments on the prototypes, the effectiveness and accuracy of the established analytical backlash model are verified.

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Acknowledgment

This work was supported by the National Natural Science Foundation of China (Grant No. 92048201, No. U21A20121 and No. U20A20282) and the Zhejiang Province Key R &D Program (No. 2021C01067).

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Authors and Affiliations

  1. Ningbo Institute of Materials Technology and Engineering, CAS, Ningbo, China

    Qinghao Du, Tuopu Zhang, Guilin Yang, Chin-Yin Chen, Weijun Wang & Chi Zhang

  2. University of Chinese Academy of Sciences, Beijing, China

    Qinghao Du, Tuopu Zhang & Guilin Yang

  3. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo, China

    Qinghao Du, Tuopu Zhang, Guilin Yang, Chin-Yin Chen, Weijun Wang & Chi Zhang

Authors
  1. Qinghao Du
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  2. Tuopu Zhang
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  3. Guilin Yang
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  4. Chin-Yin Chen
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  5. Weijun Wang
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  6. Chi Zhang
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Corresponding author

Correspondence to Guilin Yang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Du, Q., Zhang, T., Yang, G., Chen, CY., Wang, W., Zhang, C. (2023). Analytical Backlash Model for 3K-type Planetary Gear Train with Flexure-Based Anti-backlash Carrier. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_31

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  • DOI: https://doi.org/10.1007/978-981-99-6489-5_31

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6488-8

  • Online ISBN: 978-981-99-6489-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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