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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© 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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