Accuracy characteristic of test bench of lost motion of precision reducer

YU Zhiyong; SHI Zhaoyao; CHENG Huiming; YU Bo; ZHANG Lintao

doi:10.37188/OPE.20233116.2372

您当前的位置：

首页 >

文章列表页 >

Accuracy characteristic of test bench of lost motion of precision reducer

Micro/Nano Technology and Fine Mechanics | 更新时间：2023-08-25

- Accuracy characteristic of test bench of lost motion of precision reducer
- Optics and Precision Engineering Vol. 31, Issue 16, Pages: 2372-2382(2023)
- 作者机构：
  
  北京工业大学材料与制造学部北京市精密测控技术与仪器工程技术研究中心，北京 100124
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20233116.2372
  CLC： TH71
- Received：23 February 2023，
  
  Revised：24 April 2023，
  
  Published：25 August 2023
- 稿件说明：
移动端阅览
俞志勇,石照耀,程慧明等.精密减速器回差试验台的精度特性[J].光学精密工程,2023,31(16):2372-2382.

YU Zhiyong,SHI Zhaoyao,CHENG Huiming,et al.Accuracy characteristic of test bench of lost motion of precision reducer[J].Optics and Precision Engineering,2023,31(16):2372-2382.
俞志勇,石照耀,程慧明等.精密减速器回差试验台的精度特性[J].光学精密工程,2023,31(16):2372-2382. DOI： 10.37188/OPE.20233116.2372.

YU Zhiyong,SHI Zhaoyao,CHENG Huiming,et al.Accuracy characteristic of test bench of lost motion of precision reducer[J].Optics and Precision Engineering,2023,31(16):2372-2382. DOI： 10.37188/OPE.20233116.2372.

摘要

精密减速器回差试验台是非标设备，迄今对其精度特性缺乏系统性研究以至于还没有检定规程去评定该类测试设备的计量性能。为了评估精密减速器回差试验台的精度特性，提出了试验台精度的评定方法。首先，分析了精密减速器回差试验台的结构，确定了转矩传感器测量误差、角度传感器测量误差、转矩测量链摩擦转矩以及角度测量链弹性扭转角这四个因素是影响试验台精度的主要误差源。接着，研究了误差源的作用机理，提出了通过滞回曲线将转矩类误差转换为角度类误差的方法，统一了误差的类型。然后，提出了滞回曲线局部线性化的概念，实现了转矩类误差转换为角度类误差的简便计算。最后，根据回差的表达式给出了试验台精度的评定方法，并进行了测试实践。结果表明：几何回差的测试误差为±0.04ʹ；弹性回差的测试误差为±0.06'；总回差的测试误差为±0.04'，回差试验台精度满足要求，本文提出的方法对评定试验台精度是有效的。另外，对精密减速器输出端一转范围内多处测试，能提升测试精度。

Abstract

The test bench of lost motion of a precision reducer is a non-standard piece of equipment， and there has been no systematic research on its precision characteristic. Therefore， verification regulation for evaluating the metrological performance of such a test bench is lacking. To evaluate the accuracy characteristic of the test bench of lost motion of a precision reducer， an accuracy evaluation method is proposed. First， the structure of the test bench is analyzed， and the main error sources that affect the precision of the test bench are determined. These error sources include the measurement error of the torque sensor， measurement error of the angle sensor， friction torque of the torque measurement chain， and elastic torsion angle of the angle measurement chain. Second， the function mechanisms of these error sources are studied， and a method of converting torque error into angle error is proposed through a hysteresis curve so that all types of error are unified as an angle error. Then， the concept of local linearization of the hysteresis curve is proposed to realize the simple calculation of torque error mapped to angle error. Finally， a method of evaluating the accuracy of the test bench is given according to the mathematical expression of lost motion. Testing was conducted， and the experimental results indicate that the test error of geometric lost motion is ±0.04'， test error of elastic lost motion is ±0.06'， and test error of total lost motion is ±0.04'. Consequently， the accuracy of the test bench of lost motion meets the test requirements， and the method proposed is effective for evaluating the accuracy of the test bench. In addition， the test accuracy can be improved by testing several places within one rotation of the output terminal of the precision reducer.

关键词

Keywords

references

QIU Z ， XUE J . Review of performance testing of high precision reducers for industrial robots ［J］. Measurement ， 2021 ， 183 ： 109794 . doi: 10.1016/j.measurement.2021.109794 http://dx.doi.org/10.1016/j.measurement.2021.109794

XU L ， YANG Y . Dynamic modeling and contact analysis of a cycloid-pin gear mechanism with a turning arm cylindrical roller bearing ［J］. Mechanism and Machine Theory ， 2016 ， 104 ： 327 - 349 . doi: 10.1016/j.mechmachtheory.2016.06.018 http://dx.doi.org/10.1016/j.mechmachtheory.2016.06.018

PHAM A D ， AHN H J . High precision reducers for industrial robots driving 4th industrial revolution： state of arts， analysis， design， performance evaluation and perspective ［J］. International Journal of Precision Engineering and Manufacturing-Green Technology ， 2018 ， 5 （ 4 ）： 519 - 533 . doi: 10.1007/s40684-018-0058-x http://dx.doi.org/10.1007/s40684-018-0058-x

李瑰贤，吴俊飞 . RV30-AⅡ型变厚齿轮减速器试验研究［J］. 机械传动， 2005 ， 29 （ 4 ）： 4 - 5， 8 . doi: 10.3969/j.issn.1004-2539.2005.04.002 http://dx.doi.org/10.3969/j.issn.1004-2539.2005.04.002

LI G X ， WU J F . Test research of RV 30- AⅡ bevoloid gear reducer ［J］. Journal of Mechanical Transmission ， 2005 ， 29 （ 4 ）： 4 - 5， 8 . （in Chinese） . doi: 10.3969/j.issn.1004-2539.2005.04.002 http://dx.doi.org/10.3969/j.issn.1004-2539.2005.04.002

何卫东，李力行，王秀琦，等 . RV减速器样机研制及试验研究［J］. 大连铁道学院学报， 1999 （ 2 ）： 59 - 64 .

HE W D ， XING）LI）HANG L ， et al . Development of sample machine and test study of RV reducer ［J］. Journal of Dalian Railway Institute ， 1999 （ 2 ）： 59 - 64 . （in Chinese）

石照耀，徐航，韩方旭，等 . 精密减速器回差测量的现状与趋势［J］. 光学精密工程， 2018 ， 26 （ 9 ）： 2150 - 2158 . doi: 10.3788/ope.20182609.2150 http://dx.doi.org/10.3788/ope.20182609.2150

SHI Z Y ， XU H ， HAN F X ， et al . Current status and trends in precision reducer lost motion measurement ［J］. Opt. Precision Eng. ， 2018 ， 26 （ 9 ）： 2150 - 2158 . （in Chinese） . doi: 10.3788/ope.20182609.2150 http://dx.doi.org/10.3788/ope.20182609.2150

SHI Z Y ， CHENG H M ， YU B ， et al . Loading rate dependence of reducer hysteresis and its influence on lost motion test ［J］. Machines ， 2022 ， 10 （ 9 ）： 765 . doi: 10.3390/machines10090765 http://dx.doi.org/10.3390/machines10090765

WEGENER G ， STENNER L . P1.9-A Guide for Choosing the Right Calibration for Torque Transducers ［C］. Proceedings SENSOR 2009， Volume II. May 26 - 28 ， 2009 . Congress Center Nürnberg. AMA Service GmbH ， Von-Münchhausen-Str . 49 ， 31515 Wunstorf， Germany ， 2009： 265 - 270 .

KHALED KM ， RÖSKE D ， ABUELEZZ AE ， et al . Humidity and temperature effects on torque transducers， bridge calibration unit and amplifiers ［J］. Measurement ， 2015 ， 74 ： 31 - 42 . doi: 10.1016/j.measurement.2015.07.007 http://dx.doi.org/10.1016/j.measurement.2015.07.007

YU Z ， ZHANG Y . Diagnosis of the coupling misalignment of the vertical comprehensive performance test instrument of high precision reducer for industrial robot ［J］. Measurement ， 2021 ， 185 ： 109939 . doi: 10.1016/j.measurement.2021.109939 http://dx.doi.org/10.1016/j.measurement.2021.109939

石照耀，徐航，林家春，等 . 精密减速器回差测量与评价体系研究［J］. 仪器仪表学报， 2018 ， 39 （ 6 ）： 56 - 63 .

SHI Z Y ， XU H ， LIN J C ， et al . Research on measurement and evaluation system of precision reducer lost motion ［J］. Chinese Journal of Scientific Instrument ， 2018 ， 39 （ 6 ）： 56 - 63 . （in Chinese）

李尕丽，薛梓，黄垚，等 . 圆光栅测角系统示值误差分析与补偿［J］. 仪器仪表学报， 2021 ， 42 （ 5 ）： 59 - 65 .

LI G L ， XUE Z ， HUANG Y ， et al . Indication error analysis and compensation of circular grating angle measurement system ［J］. Chinese Journal of Scientific Instrument ， 2021 ， 42 （ 5 ）： 59 - 65 . （in Chinese）

CHEN G . Improving the angle measurement accuracy of circular grating ［J］. The Review of Scientific Instruments ， 2020 ， 91 （ 6 ）： 065108 . doi: 10.1063/5.0001660 http://dx.doi.org/10.1063/5.0001660

王笑一，王永军，雷贤卿，等 . 非对径安装双读数头圆光栅偏心测角误差修正［J］. 光学精密工程， 2021 ， 29 （ 5 ）： 1103 - 1114 . doi: 10.37188/OPE.20212905.1103 http://dx.doi.org/10.37188/OPE.20212905.1103

WANG X Y ， WANG Y J ， LEI X Q ， et al . Correction method for angle measurement error of eccentric encoder with double read-heads installed non-diametrically opposite ［J］. Opt. Precision Eng. ， 2021 ， 29 （ 5 ）： 1103 - 1114 . （in Chinese） . doi: 10.37188/OPE.20212905.1103 http://dx.doi.org/10.37188/OPE.20212905.1103

国家市场监督管理总局，国家标准化管理委员会 . 精密减速器回差测试与评价方法： GB/T 40731-2021 ［S］. 北京：中国标准出版社， 2021 .

State Administration for Market Regulation ， Standardization Administration of the People's Republic of China . Method of test and evaluation for lost motion of precision reducer ： GB/T 40731-2021 ［S］. Beijing ： Standards Press of China ， 2021 . （in Chinese）

CRAIG D ， WALRATH ， . Adaptive bearing friction compensation based on recent knowledge of dynamic friction ［J］. Automatica ， 1984 ， 20 （ 6 ）： 717 - 727 . doi: 10.1016/0005-1098(84)90081-5 http://dx.doi.org/10.1016/0005-1098(84)90081-5

LIU L ， ZHANG C C ， GUO Y Q ， et al . Friction torque analysis and verification of planetary thread roller bearing ［J］. Actuators ， 2022 ， 11 （ 8 ）： 238 . doi: 10.3390/act11080238 http://dx.doi.org/10.3390/act11080238

XU H ， SHI Z Y ， YU B ， et al . Dynamic measurement of the lost motion of precision reducers in robots and the determination of optimal measurement speed ［J］. Journal of Advanced Mechanical Design， Systems， and Manufacturing ， 2019 ， 13 （ 3 ）： JAMDSM0044 . doi: 10.1299/jamdsm.2019jamdsm0044 http://dx.doi.org/10.1299/jamdsm.2019jamdsm0044

YUE H ， WU X ， SHI Z ， et al . A comprehensive cycloid pin-wheel precision reducer test platform integrated with a new dynamic measurement method of lost motion ［J］. Metrology and Measurement Systems ， 2022 ， 29 （ 1 ）.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Current status and trends in precision reducer lost motion measurement

Related Author

Zhao-yao SHI

Hang XU

Fang-xu HAN

Jia-chun LIN

Hui WANG

Related Institution

Beijing Engineering Research Center of Precision Measurement Technology and Instruments, College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology

China Software Testing Center, Development Research Center of Computer and Microelectronics, Ministry of Industry and Information Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰