A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry

TL;DR

This paper introduces a modular, efficient dynamic toolkit for analyzing transmission characteristics of precision reducers with explicit contact geometry, enhancing accuracy and versatility in robotic applications.

Contribution

A unified, modular framework integrating advanced contact theories for precise and efficient modeling of precision reducers' transmission dynamics.

Findings

Numerical validation confirms high accuracy against benchmarks.

The toolkit offers improved computational efficiency over traditional software.

Supports rapid reconfiguration for various reducer topologies.

Abstract

Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper presents a dynamic toolkit for analyzing the transmission characteristics of precision reducers with explicit contact geometry. A unified framework is proposed to address the challenges in modeling accurate contact behaviors, evaluating gear stiffness, and predicting system vibrations. By integrating advanced contact theories and numerical solving methods, the proposed toolkit offers higher precision and computational efficiency compared to traditional dynamics software. The toolkit is designed with a modular, scriptable architecture that supports rapid reconfiguration across diverse reducer topologies. Numerical validation against published benchmarks confirms the accuracy of the proposed approach.