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Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction
  • Ryo Kikuuwe
Ryo Kikuuwe
Hiroshima University, Hiroshima University, Hiroshima University, Hiroshima University, Hiroshima University, Hiroshima University

Corresponding Author:[email protected]

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Abstract

This paper proposes a new concise mathematical model of gear transmission dynamics with asymmetric load-dependent friction. It is of the form of a differential-algebraic inclusion (DAI) characterized by some parameters, including input-side and output-side asymmetry coefficients. The presented model properly captures the static friction and even the non-backdrivability. It is applicable to different classes of transmissions, such as leadscrew transmissions, worm gear transmissions, and spur gear transmissions. The DAI representation is extended into a multi-dimensional representation for articulated rigid-body systems driven through joint transmissions. Moreover, simulation algorithms are derived through the implicit Euler discretization. Some simulation examples illustrate the validity of the presented representations.
Jan 2023Published in Mechanism and Machine Theory volume 179 on pages 105116. 10.1016/j.mechmachtheory.2022.105116