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Characteristics analysis of supporting and locking mechanism based on the non-circular gear compound transmission

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Abstract

As one of the most important components in the micro in-pipe robot, the supporting and locking mechanism determines the working performance of the robot. In this paper, a new supporting and locking mechanism based on the non-circular gear compound transmission (SLM-NGCT) is proposed. According to the advanced mechanisms and differential geometry theory, transmission coordinates of the movement mechanism were established and the movement equations were derived. The influence factors and change rules of the displacement, velocity and acceleration of the movement mechanism were analyzed. Based on gear meshing theory and the cam theory, the mechanical characteristics of the flexible friction block of the movement mechanism were analyzed. A simulation model of SLM-NGCT was established and the comparison results between simulation and theoretical model show the correctness of the theoretical analysis and the feasibility of non-circular gear pairs instead of the cam mechanism. The study has guiding significance in the supporting and locking mechanism of micro in-pipe robot.

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Abbreviations

S A :

Linear displacement

S :

Reciprocating displacement

F f1 :

Foundation frictional force

L :

Length of flexible friction block

H :

Width of flexible friction block

B :

Height of flexible friction block

a :

Long-axis of non-circular gear

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Acknowledgments

The authors thank the National Natural Science Foundation of China (No. 51675060), Project No. 106112017CDJPT 280002 supported by the Fundamental Research Funds for the Central Universities and the Equipment Pre-Research Project (No. 3010519404) for financially supporting this work. This work was also supported by the State Key Laboratory of Mechanical Transmission of Chongqing University (No. SKLMT-ZZKT-2015Z16).

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Authors and Affiliations

  1. The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China

    Chao Lin, Yanan Hu, Yanqun Wei & Zhiqin Cai

  2. The Institute of Modern Physics, Chinese Academy of Sciences, Lanzhou, China

    Yanqun Wei

  3. The School of Aeronautics and Astronautics, Xiamen University, Xiamen, China

    Zhiqin Cai

Authors
  1. Chao Lin
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  2. Yanan Hu
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  3. Yanqun Wei
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  4. Zhiqin Cai
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Corresponding author

Correspondence to Chao Lin.

Additional information

Recommended by Editor Ja Choon Koo

Chao Lin is a Professor and Doctoral Supervisor of the College of Mechanical Engineering/State Key Laboratory of Mechanical Transmission, Chongqing University. His research interests include meshing theory of spiral bevel gears, non-circular gears and new gear transmission, and precision transmission and drive.

Yanan Hu is a Ph.D. candidate in the State Key Laboratory of Mechanical Transmission of Chongqing University. Her research interests include theoretical research and application design of non-circular gears and curve-face gears.

Yanqun Wei received an M.S. in Mechanical Engineering from Chongqing University. Her research direction is new gear transmission. She is currently working at the Institute of Modern Physics, Chinese Academy of Sciences, and her research direction is design and analysis of complex magnet structure.

Zhiqin Cai is a Lecturer at the School of Aeronautics and Astronautics, Xiamen University. He received his Ph.D. in Mechanical Engineering from Chongqing University. His research interests include intelligent design of precision gear driven by shape coupling, micro-texture of tooth surface, and energy-saving transmission design.

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Lin, C., Hu, Y., Wei, Y. et al. Characteristics analysis of supporting and locking mechanism based on the non-circular gear compound transmission. J Mech Sci Technol 34, 2561–2571 (2020). https://doi.org/10.1007/s12206-020-0531-7

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  • DOI: https://doi.org/10.1007/s12206-020-0531-7

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