Development of a composite transmission characteristics measurement system for angle transmission mechanisms

角度传动机构复合传动特性测量系统的研制

• 批准号: 09555054
• 负责人: KAJITANI Makoto
• 金额: $ 6.72万
• 依托单位: The University of Electro-Communications
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09555054/
• 关键词: Angle transmission mechanism; Angle transmission error; Backlash; Dynamic transmission characteristics; Vibration; 回転伝達機構; 回転伝達誤差; 偏心; 動的な伝達特性

Angle transmission error, backlash and stiffness of an angle transmission mechanism exert a great influence on the servo performance in the mechatronic mechanisms. The purpose of this research is to investigate the relation between the characteristics of angle transmission mechanism and the control performance quantitatively. A composite transmission characteristics measurement system for angle transmission mechanisms has been developed and its capability has been evaluated by measurement experiments on typical angle transmission mechanisms.1) Various angle transmission mechanisms, e.g. gear reducers, traction drive, timing belt can be measured by the developed system. Experimental conditions including inertial loads, torque load, input pattern of velocity, parameters of control system can be changed easily. Transmission error, backlash, stiffness and control performance (control errors of position and velocity, step response, stability) can be measured and evaluated on display or output to printer by this system.2) This system can realize all functions of conventional angle transmission test system. Besides those functions, it can measure backlash continuously and measure dynamic transmission characteristics. The differences of transmission error due to the different polishing methods of teeth face can be observed also.3) In the experiments of dynamic transmission on simple coupling mechanism with backlash and gear reducers, complicated vibration of transmission mechanism including contacting, collision (one side, two sides) and free states between driving and driven sides due to the existence of backlash was observed4) A simulation model has been established for our system including dynamic model of mechanism and model of control system. Similar results can be obtained by simulation using this model. It will be useful for the controller design of a system with backlash.

角传动机构的角传动误差、侧隙和刚度对机电一体化机构的伺服性能有很大的影响。本研究旨在探讨角传动机构之特性与控制性能间之定量关系。研制了一套角传动机构综合传动特性测试系统，并通过对典型角传动机构的测试实验，对系统的性能进行了评价。1）该系统可对齿轮减速器、牵引传动、同步带等多种角传动机构进行测试。实验条件包括惯性负载、转矩负载、速度输入方式、控制系统参数等都可以方便地改变。该系统可对传动误差、侧隙、刚度和控制性能（位置和速度控制误差、阶跃响应、稳定性）进行测量和评价，并可在显示器上显示或打印输出。2）该系统可实现传统角传动测试系统的全部功能。除此之外，它还可以连续测量齿隙和测量动态传动特性。3）在具有侧隙和齿轮减速器的简单耦合机构的动态传动实验中，研究了传动机构的接触、碰撞等复杂振动（一方面，由于齿隙的存在，驱动侧和从动侧之间处于自由状态。建立了系统的仿真模型，包括机构的动态模型和控制系统的模型。利用该模型进行仿真也可以得到类似的结果。这对具有齿隙的系统的控制器设计具有一定的指导意义。