Abstract
To enhance the running and jumping abilities of legged robots in unstructured environments, joint actuators must have high impact resistance for high torque transmission. A cycloid-pin gear transmission is applied in joint actuators to resist the instantaneous impact of the legged robots. In order to study the impact performance of the transmission, the impact force model of the gear meshing pair was proposed based on H-C contact collision model. The transient dynamics module in Ansys Workbench was used to verify the correctness of the meshing impact model. Then the influence of eccentricity and equidistance modification on meshing impact forces were studied. It is shown that eccentricity is the main parameter affecting the impact performance of gear meshing. The result provides a design method to enhance the impact resistance of cycloidal reducer, and is of great significance for improving the fast motion ability of legged robots.
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Acknowledgment
This research is supported by the National Natural Science Foundation of China (Grant No. 51905009) and Key R&D Projects in Hebei Province of China (Grant No. 20311802D).
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Ji, S., Wei, T., Li, J. (2023). Study on the Impact Performance of the Joint Cycloid Reducer for Legged Robots. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_40
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DOI: https://doi.org/10.1007/978-981-99-6492-5_40
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