Development of a composite transmission characteristics measurement system for angle transmission mechanisms

1999 Fiscal Year Final Research Report Summary

• Project/Area Number: 09555054
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 展開研究
• Research Field: 設計工学・機械要素・トライボロジー
• Research Institution: The University of Electro-Communications
• Principal Investigator: KAJITANI Makoto Faculty of Electro-Communications, The University of Electro-Communications, Professor, 電気通信学部, 教授 (10017379)
• Co-Investigator(Kenkyū-buntansha): KANAMORI Chisato Faculty of Electro-Communications, The University of Electro-Communications, Research Associate, 電気通信学部, 助手 (50233862) ; MING Aiguo Faculty of Electro-Communications, The University of Electro-Communications, Associate Professor, 電気通信学部, 助教授 (50239456)
• Project Period (FY): 1997 – 1999
• Keywords: Angle transmission mechanism / Angle transmission error / Backlash / Dynamic transmission characteristics / Vibration

Research Abstract

Angle transmission error, backlash and stiffness of an angle transmission mechanism exert a great influence on the servo performance in the mechatronic mechanisms. The purpose of this research is to investigate the relation between the characteristics of angle transmission mechanism and the control performance quantitatively. A composite transmission characteristics measurement system for angle transmission mechanisms has been developed and its capability has been evaluated by measurement experiments on typical angle transmission mechanisms.
1) Various angle transmission mechanisms, e.g. gear reducers, traction drive, timing belt can be measured by the developed system. Experimental conditions including inertial loads, torque load, input pattern of velocity, parameters of control system can be changed easily. Transmission error, backlash, stiffness and control performance (control errors of position and velocity, step response, stability) can be measured and evaluated on display or output to printer by this system.
2) This system can realize all functions of conventional angle transmission test system. Besides those functions, it can measure backlash continuously and measure dynamic transmission characteristics. The differences of transmission error due to the different polishing methods of teeth face can be observed also.
3) In the experiments of dynamic transmission on simple coupling mechanism with backlash and gear reducers, complicated vibration of transmission mechanism including contacting, collision (one side, two sides) and free states between driving and driven sides due to the existence of backlash was observed
4) A simulation model has been established for our system including dynamic model of mechanism and model of control system. Similar results can be obtained by simulation using this model. It will be useful for the controller design of a system with backlash.