Dynamic characteristics analysis and  optimization design of two-stage helix planetary reducer for robots

Dynamic characteristics analysis and optimization design of two-stage helix planetary reducer for robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Dynamic characteristics analysis and optimization design of two-stage helix planetary reducer for robots Wenzhao Lin, Fangping Huang, Junhua Chen, Hao Li, Dongdong Chang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5328762/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract The dynamic characteristics of high-precision planetary reducers in terms of vibration response and dynamic transmission error have a significant impact on positioning accuracy and service life. However, the dynamics of high-precision two-stage helical planetary reducers has not been studied extensively enough and needs to be studied in depth. In order to make up for this defect, considering the time-varying meshing stiffness of gears and transmission errors, a translation-torsion coupled dynamics model of a two-stage helical planetary gear drive is established based on the Lagrange equations by using the centralized parameter method for analyzing the dynamic characteristics of the reducer. The differential equations of the system were derived by analyzing the relative displacement relationship between the components. On this basis, a finite element model of a certain type of high-precision reducer was established, and the effects of factors such as rotate speed and load on the dynamic behaviour and transmission accuracy were investigated through simulation and experimental comparison to quantify or characterize their effects.Based on the combined modification method of helix modification with drum shape, the optimized design of this type of reducer is carried out, and the dynamic characteristics of the reducer before and after modification are compared and analyzed. The results show that the adopted modification optimization method is effective in reducing the vibration amplitude and transmission error amplitude of the reducer.The peak-to-peak value of transmission error of the reducer is reduced by 19.87%; the peak value of vibration acceleration is reduced by 14.29%; and the RMS value is reduced by 21.05% under the input speed of 500 r/min and the load of 50 N·m operating conditions. The research results can provide a theoretical basis for the study of dynamic characteristics, fault diagnosis, optimization of meshing parameters and structural optimization of planetary reducers. Physical sciences/Engineering Physical sciences/Engineering/Mechanical engineering Planetary reducer Dynamic characteristics Vibration response Modal analysis Transmission error Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5328762","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":380673169,"identity":"eebcb39d-b607-4a1d-82af-ac11ea61c817","order_by":0,"name":"Wenzhao Lin","email":"","orcid":"","institution":"School of Science \u0026 Technology, Ningbo University","correspondingAuthor":false,"prefix":"","firstName":"Wenzhao","middleName":"","lastName":"Lin","suffix":""},{"id":380673170,"identity":"23e189e5-bfa2-4a37-ae22-0ddc9de7590c","order_by":1,"name":"Fangping Huang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAsklEQVRIiWNgGAWjYBACA+YDjA8SKmx4+PkbiNXClsBs8OBMmozkjAPEa2ETfNh22MagIYFILeZsvMcYEs6c5zFgOMD44WMOEVos2/jSgH65zWPO3MAsOXMbMQ6732NukHDmNo9lwwE2Zl6itBzjMZNIbDvHY3AggTQtB0jSwpcMdFgyj+SMg81E+uUY78GHPyrs7Pn5mw9++EiMFgYGHhiDsYEo9chaRsEoGAWjYBTgAACyQDjDjWFFmAAAAABJRU5ErkJggg==","orcid":"","institution":"School of Science \u0026 Technology, Ningbo University","correspondingAuthor":true,"prefix":"","firstName":"Fangping","middleName":"","lastName":"Huang","suffix":""},{"id":380673171,"identity":"bda0d3fa-7ced-4d0f-9e8c-92e628faea85","order_by":2,"name":"Junhua Chen","email":"","orcid":"","institution":"School of Science \u0026 Technology, Ningbo University","correspondingAuthor":false,"prefix":"","firstName":"Junhua","middleName":"","lastName":"Chen","suffix":""},{"id":380673173,"identity":"c77b817e-7b82-478f-a5b1-e31b44dd83da","order_by":3,"name":"Hao Li","email":"","orcid":"","institution":"School of Science \u0026 Technology, Ningbo University","correspondingAuthor":false,"prefix":"","firstName":"Hao","middleName":"","lastName":"Li","suffix":""},{"id":380673174,"identity":"6f826578-0fb7-4143-b069-23d9f58bd62d","order_by":4,"name":"Dongdong Chang","email":"","orcid":"","institution":"School of Science \u0026 Technology, Ningbo University","correspondingAuthor":false,"prefix":"","firstName":"Dongdong","middleName":"","lastName":"Chang","suffix":""}],"badges":[],"createdAt":"2024-10-25 01:39:00","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-5328762/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-5328762/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":73900385,"identity":"5d2b4c8d-1ba9-4dff-8845-d24204c565db","added_by":"auto","created_at":"2025-01-15 17:17:13","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1285831,"visible":true,"origin":"","legend":"","description":"","filename":"Dynamiccharacteristicsanalysisandoptimizationdesignoftwostagehelixplanetaryreducerforrobots.pdf","url":"https://assets-eu.researchsquare.com/files/rs-5328762/v1_covered_9ba3cf56-d8e9-4434-8f5c-2af87286ca06.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Dynamic characteristics analysis and optimization design of two-stage helix planetary reducer for robots","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Planetary reducer, Dynamic characteristics, Vibration response, Modal analysis, Transmission error","lastPublishedDoi":"10.21203/rs.3.rs-5328762/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5328762/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThe dynamic characteristics of high-precision planetary reducers in terms of vibration response and dynamic transmission error have a significant impact on positioning accuracy and service life. However, the dynamics of high-precision two-stage helical planetary reducers has not been studied extensively enough and needs to be studied in depth. In order to make up for this defect, considering the time-varying meshing stiffness of gears and transmission errors, a translation-torsion coupled dynamics model of a two-stage helical planetary gear drive is established based on the Lagrange equations by using the centralized parameter method for analyzing the dynamic characteristics of the reducer. The differential equations of the system were derived by analyzing the relative displacement relationship between the components. On this basis, a finite element model of a certain type of high-precision reducer was established, and the effects of factors such as rotate speed and load on the dynamic behaviour and transmission accuracy were investigated through simulation and experimental comparison to quantify or characterize their effects.Based on the combined modification method of helix modification with drum shape, the optimized design of this type of reducer is carried out, and the dynamic characteristics of the reducer before and after modification are compared and analyzed. The results show that the adopted modification optimization method is effective in reducing the vibration amplitude and transmission error amplitude of the reducer.The peak-to-peak value of transmission error of the reducer is reduced by 19.87%; the peak value of vibration acceleration is reduced by 14.29%; and the RMS value is reduced by 21.05% under the input speed of 500 r/min and the load of 50 N\u0026middot;m operating conditions. The research results can provide a theoretical basis for the study of dynamic characteristics, fault diagnosis, optimization of meshing parameters and structural optimization of planetary reducers.\u003c/p\u003e","manuscriptTitle":"Dynamic characteristics analysis and optimization design of two-stage helix planetary reducer for robots","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2024-11-27 17:28:12","doi":"10.21203/rs.3.rs-5328762/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"6869811a-9a14-44db-8f46-5898793ed7c6","owner":[],"postedDate":"November 27th, 2024","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[{"id":40539872,"name":"Physical sciences/Engineering"},{"id":40539873,"name":"Physical sciences/Engineering/Mechanical engineering"}],"tags":[],"updatedAt":"2025-01-15T17:08:51+00:00","versionOfRecord":[],"versionCreatedAt":"2024-11-27 17:28:12","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-5328762","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-5328762","identity":"rs-5328762","version":["v1"]},"buildId":"qtupq5eGEP_6zYnWcrvyt","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}