Research Of Lost Motion On Micro-segment Gear Joint Reducer

With the advancement of technology,the automation industry has developed rapidly on a global scale.Industrial robots have been widely used in various industries.The research on robotic joint reducers,one of the three key components of industrial robots,is also developing rapidly.The lost motion of the robot joint reducer will directly affect the working performance of the industrial robot.Therefore,it is necessary to study it and provide theoretical guidance for actual production.Based on the research and development project of the Micro-segment gear robot joint reducer,combined with the new high-strength Micro-segment gear.This paper designs a Micro-segment gear 3K-I type robot joint reducer which matches the gear reducer and strength.The finite element analysis of the key components is carried out,and the relevant performance parameters of the whole machine are obtained.According to the principle and structure of the Micro-segment gear robot joint reducer,the sources of influencing factors of the lost motion are found.The backlash model of Micro-segment gears is established.The mathematical relationship between backlash and lost motion is deduced.The mathematical model of the system lost motion is finally obtained.The comprehensive method formed by Monte Carlo method and interval theory is proposed and the theoretical back-difference simulation is carried out.Through the simulated annealing method,the optimal design of the lost motion is obtained,and the optimal Micro-segment gear parameters are obtained,which provides theoretical guidance for the actual machining.Finally,the principle prototype of the micro-segment robot joint reducer is fabricated and the lost motion test bench of the prototype is built.The principle test machine is tested for the lost motion,and the results are compared with the simulation results.Through the combination of theoretical analysis and experiment,the designed Microsegment robot joint reducer meets the requirements of use.At the same time,the established Micro-segment gear backlash model and the lost motion calculation model solves the theoretical analysis problem of the transmission precision of the joint reducer reasonably and effectively.It lays the foundation for the follow-up study of microsegment gears and joint reducers..