A New Calculation Method for Instantaneous Efficiency and Torque Fluctuation of Spur Gears
Keywords:Collaborative robot, Instantaneous efficiency, Torque fluctuation, Friction coefficient, Load distribution
As a critical component of the joint gearbox, spur gear pairs play a crucial role in energy conversion, limiting the performance of a collaborative robot. Accurately assessing their instantaneous efficiency and torque fluctuation is essential for developing high-precision robot joint control models. This study proposes a computational model to predict the instantaneous efficiency and torque fluctuation of spur gears under typical operating conditions. The model incorporates a torque balance model, a load distribution model, and a friction model to reflect the relationship between gear meshing position and efficiency. The instantaneous efficiency and torque fluctuation of gear pairs were compared with the Coulomb friction model with an average friction coefficient and the elastohydrodynamic lubrication model with a time-varying friction coefficient. The effect of gear contact ratio on efficiency is analysed, while the instantaneous efficiency and torque fluctuation of gears are studied under varying operating conditions. The results indicate a maximum efficiency difference of 1.86 % between the two friction coefficient models. Under specific operating conditions, the instantaneous efficiency variation of the gear pair can reach 3.34 %, and the torque fluctuation can reach 5.19 Nm. Finally, this study demonstrates the effectiveness and accuracy of the proposed method through comparative analysis.
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