Accuracy characteristic of test bench of lost motion of precision reducer

Zhiyong YU; Zhaoyao SHI; Huiming CHENG; Bo YU; Lintao ZHANG

doi:10.37188/OPE.20233116.2372

Optics and Precision Engineering, Volume. 31, Issue 16, 2372(2023)

Accuracy characteristic of test bench of lost motion of precision reducer

Zhiyong YU... Zhaoyao SHI*, Huiming CHENG, Bo YU and Lintao ZHANG |Show fewer author(s)

Beijing Engineering Research Center of Precision Measurement Technology and Instruments， Faculty of Materials and Manufacturing， Beijing University of Technology， Beijing100124， China

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Figures & Tables(22)

Fig. 1. Structure of test bench of lost motion

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Fig. 2. Hysteresis curve

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Fig. 3. Function mechanism of angle error caused by torque error

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Fig. 4. Local linearization of hysteresis curve

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Fig. 5. Transient process under gradient loading

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Fig. 6. Key data points on the hysteresis curve

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Fig. 7. Schematic diagram of key data points obtained by interpolation

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Fig. 8. Comprehensive performance test bench for precision reducer

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Fig. 9. Test result of friction torque of torque measuring chain

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Fig. 10. Finite element analysis of output shaft

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Fig. 11. Key components in comparative experiment

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Fig. 12. Relationship between experimental value of elastic torsion angle φe and torque T

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Fig. 13. Hysteresis curve and key data points measured by experiment

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Fig. 14. Distribution of lost motion within one revolution of output terminal of precision reducer

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Table 1. Coordinate value of key data points

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Table 1. Coordinate value of key data points

Name of data points	Coordinate value
A	$[T_{A} \pm Δ (T_{A}), θ_{A} \pm Δ (θ_{A})]$
B	$[T_{B} \pm Δ (T_{B}), θ_{B} \pm Δ (θ_{B})]$
C	$[T_{C} \pm Δ (T_{C}), θ_{C} \pm Δ (θ_{C})]$
D	$[T_{D} \pm Δ (T_{D}), θ_{D} \pm Δ (θ_{D})]$
E	$[T_{E} \pm Δ (T_{E}), θ_{E} \pm Δ (θ_{E})]$
F	$[T_{F} \pm Δ (T_{F}), θ_{F} \pm Δ (θ_{F})]$

Table 2. Specification parameters of test piece
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Table 2. Specification parameters of test piece
Rated torque
$T_{r} / (N \cdot m)$
Maximum value of geometric lost motion $θ_{g} / (^{'})$
392 1

Table 3. Clamping requirements and actual clamping accuracy of test piece
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Table 3. Clamping requirements and actual clamping accuracy of test piece
Test piece
interface name
Clamping
requirement
Actual clamping
accuracy
Input terminal Coaxiality $< 30 μ m$
Coaxiality
$< 5 μ m$
Output terminal Coaxiality $< 20 μ m$
Coaxiality
$< 5 μ m$

Table 4. Sensor installation requirements and Measurement uncertainty
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Table 4. Sensor installation requirements and Measurement uncertainty
Sensor type
Installation
requirements
Measurement uncertainty
Torque sensor Coaxiality $< 50 μ m$ ±2 N·m
Circular grating sensor Coaxiality $< 5 μ m$ ±1ʺ

Table 5. Results of 6 repeated test of friction torque
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Table 5. Results of 6 repeated test of friction torque
Serial number 1 2 3 4 5 6
$T_{f} / (N \cdot m)$ 0.68 0.63 0.46 0.54 0.51 0.57

Table 6. Data points directly used for lost motion calculation
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Table 6. Data points directly used for lost motion calculation
Name of data points Coordinate value
$O_{1}$ $[11.76, 0.11 \pm 0.03]$
$O_{2}$ $[- 11.76, - 0.16 \pm 0.03]$
B $[392 \pm 3.3, 1.40 \pm 0.02]$
E $[- 392 \pm 3.3, - 1.35 \pm 0.03]$

Table 7. Test result and test error of lost motion
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Table 7. Test result and test error of lost motion
Geometric lost motion $δ_{g}$
Elastic lost
motion $δ_{e}$
Total lost motion
$δ$
$0.27 \pm 0.04$ $2.55 \pm 0.06$ $2.75 \pm 0.04$

Table 8. Evaluation index of test result of lost motion
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Table 8. Evaluation index of test result of lost motion
Maximum value $δ_{s - m a x}$ Mean value ${\bar{δ}}_{s}$ Standard deviation $σ_{s}$
Geometric lost motion 0.47 0.29 0.09
Elastic lost motion 2.50 2.37 0.17
Total lost motion 2.97 2.66 0.20

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Zhiyong YU, Zhaoyao SHI, Huiming CHENG, Bo YU, Lintao ZHANG. Accuracy characteristic of test bench of lost motion of precision reducer[J]. Optics and Precision Engineering, 2023, 31(16): 2372

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