精密減速機の伝達特性を解析する動的ツールキット：接触形状を明示的に考慮した統一フレームワーク
A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry
ロボット用精密減速機の伝達特性を高精度・高速に解析する動的ツールキットを提案。接触理論と数値解法を統合し、剛性評価や振動予測を可能にする。
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著者: Jiacheng Miao, Chao Liu, Qiliang Wang, Yunhui Guan, Weidong He
分類: cs.RO
原文アブストラクト
Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper presents a dynamic toolkit for analyzing the transmission characteristics of precision reducers with explicit contact geometry. A unified framework is proposed to address the challenges in modeling accurate contact behaviors, evaluating gear stiffness, and predicting system vibrations. By integrating advanced contact theories and numerical solving methods, the proposed toolkit offers higher precision and computational efficiency compared to traditional dynamics software. The toolkit is designed with a modular, scriptable architecture that supports rapid reconfiguration across diverse reducer topologies. Numerical validation against published benchmarks confirms the accuracy of the proposed approach.
