Measurability of the dynamic behavior of gear backlash at industrial robots

机译：工业机器人齿轮间隙动态特性的可测量性

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In current calibration and compensation methods for gear backlash of industrial robots, only stationary effects are considered. Alternatively, expensive sensors are used for absolute position control of robots. This paper investigates the dynamic behavior of gear backlash and the measurability of its influences at a KUKA KR500-3 MT robot in the context of online gear backlash compensation.

机译：在当前的工业机器人齿轮间隙的校准和补偿方法中，仅考虑静止效应。可替代地，昂贵的传感器被用于机器人的绝对位置控制。本文研究了在在线齿轮间隙补偿的情况下，在KUKA KR500-3 MT机器人上齿轮间隙的动态行为及其影响的可测量性。

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《International Conference on Mechatronics and Machine Vision in Practice》|2018年|1-6|共6页
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Karim Ali; Baumeister Fabian; Verl Alexander;
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Gears; Service robots; Friction; Robot sensing systems; Mechanical power transmission; Acceleration;

机译：齿轮;服务机器人;摩擦;机器人传感系统;机械动力传输;加速;

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专利

1. Dynamic behavior of the spur gear system with time varying stiffness by gear positions in the backlash [J] . Park Chan I. L. Journal of Mechanical Science and Technology . 2020,第2期

机译：间隙齿轮齿轮齿轮系统具有时变刚度的动态行为
2. Influence of system parameters on dynamic behavior of gear pair with stochastic backlash [J] . Jian-Wei Lu, Hao Chen, Fan-Ling Zeng, Meccanica: Journal of the Italian Association of Theoretical and Applied Mechanics . 2014,第2期

机译：系统参数对带有随机游隙的齿轮副动态特性的影响
3. Nonlinear dynamic modelling and analysis for a spur gear system with time-varying pressure angle and gear backlash [J] . Yong Yi, Kang Huang, Yangshou Xiong, Mechanical systems and signal processing . 2019,第Octa1期

机译：具有时变压力角和齿轮间隙的正齿轮系统非线性动力学建模与分析
4. Measurability of the dynamic behavior of gear backlash at industrial robots [C] . Karim Ali, Baumeister Fabian, Verl Alexander International Conference on Mechatronics and Machine Vision in Practice . 2018

机译：工业机器人齿轮反弹动态行为的可测量
5. Dynamic analysis and synthesis of geared robotic mechanisms. [D] . Chen, Dar-Zen. 1991

机译：齿轮机器人机构的动力学分析和综合。
6. Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study [O] . Jaime Zabalza, Zixiang Fei, Cuebong Wong, 2019

机译：在动态环境中启用具有交互式人机交互功能的工业机器人的智能传感和自适应推理—案例研究
7. Nonlinear Dynamics of a Spur Gear Pair with Time-Varying Stiffness and Backlash [O] . Shen Yongjun, Yang Shaopu, Pan Cunzhi, 2004

机译：与时变刚度和间隙的正齿轮对的非线性动力学

Measurability of the dynamic behavior of gear backlash at industrial robots

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