Cooperating Robots for Flexible Manufacturing by Sotiris Makris

Author:Sotiris Makris
Language: eng
Format: epub
ISBN: 9783030515911
Publisher: Springer International Publishing

Fig. 9.20Assembly of the kinematic chain loop model and modeling of NJ370 gravity compensator

9.3.5 Gearbox Model

Joint elasticity

According to the lumped parameter model the elasticity of the gears and the links is represented by a spring damper pair. The simplest is with a linear spring including the link elasticity. In Fig. 9.21 the alternative types of springs are presented along with the most common models for modeling friction. Since most compliant mechanical structures exhibit a kind of the hardening properties (Ruderman 2012) the linear spring could be replaced with a non-linear stiffening spring. Ideally the axis and link elasticity should be modeled separately as seen in Fig. 9.22b. To include the gear backlash a linear spring with backlash could be introduced as seen in Fig. 9.22a. Concept models for the previously stated methods can be seen in Fig. 9.22. Based on the current spring parameters available, in this research the linear spring method was implemented.

Fig. 9.21Gearbox stiffness characteristics (left), gearbox friction parameters (right)

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