| Autor: |
Jianming Shen, Jinfu Liu, Juan Li, Shouqi Chen, Linsen Xu, Zhengyan Jiang, Zhipeng Liu, Xingcan Liang |
| Jazyk: |
čínština |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Jixie chuandong, Vol 46, Pp 50-55 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
1004-2539 |
| DOI: |
10.16578/j.issn.1004.2539.2022.03.008 |
| Popis: |
At present，robot joint reducers are all constant transmission ratio，which makes it difficult for the motor to reach peak efficiency. Based on the nested structure，a compact continuously variable transmission （CVT） for robots is proposed，which can effectively increase the power usage of the motor by changing the transmission ratio in real time. Firstly，the mechanism of variable speed transmission is studied to obtain the relationship between transmission ratio and the ratio of planetary gear to sun gear radius，and the nested structure and the axial movement system of planetary gear and sun gear plate are designed. Secondly，the mathematical models of envelope angle on planetary and sun gear，transmission ratio，and radial movement of metal belt are deduced. Based on the multi-rigid-body dynamics simulation software，the output speed of the CVT is verified to show that the forward and reverse deviations of the transmission are 1.89% and 3.87% respectively. Finally，the principle prototype of the CVT is manufactured and the torque experiment platform is built，and the output torque is set to a specific value to test the corresponding input torque. The experiment shows that the test value is basically the same as the theoretical value，and the average transmission efficiency is 72.1%，which indirectly verifies the correctness of the theoretical derivation. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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