Rigid Precision Reducers for Machining Industrial Robots

다국어 초록 (Multilingual Abstract)

Machining robots are expected to significantly change existing production systems in the near future. The quality of the machining process with robots is mainly governed by the accuracy and stiff ness of the robots. Therefore, a precision reducer for the robot joint is an important component that governs the accuracy of machining robots. This paper presents a review of rigid precision reducers for machining robots. Initially, an overview of the machining robots and their features is introduced. The importance of a precision reducer as a component of a robot for machining is explored. A cycloid reducer is the best candidate among precision reducers, considering both the structural compliance and kinematic accuracy of the machining robots. This is followed by reviews of various cycloid reducers and their operating principles. The design issues of the cycloid reducer for performance improvement are then presented. Additionally, the methodology and analysis to assess the performance of the cycloid reducers are discussed. The machining and fault detection of a cycloid reducer are briefly addressed. Finally, other applications of cycloid reducers are introduced.

참고문헌 (Reference)

• 1 Yoshioka, T., "Vibration suppressing control method of angular transmission error of cycloid gear for industrial robots" 1956-1961, 2014
• 2 Kosse, V., "Using hysteresis loop and torsional shock load to acess damping and effi ciency of cycloid drives" 1-8, 2007
• 3 Jonathon W. Sensinger, "Unified Approach to Cycloid Drive Profile, Stress, and Efficiency Optimization" ASME International 132 (132): 2010
• 4 Ken bannister, "Understand motor and gearbox lubrication"
• 5 Wang, H., "Transmission performance analysis of RV reducers infl uenced by profi le modifi cation and load" 9 : 4099-, 2019
• 6 Zang, Y., "Transmission error simulation analysis for RV reducer with orthogonal experiment method" 2019 : 629-641, 2019
• 7 Hsieh, C. F., "Traditional versus improved designs for cycloidal speed reducers with a small tooth diff erence : The effect on dynamics" 86 : 15-35, 2015
• 8 Kim, K. H., "Torsional rigidity of a cycloid drive considering fi nite bearing and Hertz contact stiff ness" 6 : 125-130, 2009
• 9 Ren, Z. Y., "Tooth modifi cation and dynamic performance of the cycloidal drive" 85 : 857-866, 2017
• 10 Dion, J. L., "Theoretical and experimental study for an improved cycloid drive model" 87 : 2020
• 11 Gorla, C., "Theoretical and experimental analysis of a cycloidal speed reducer" 130 (130): 112604-112608, 2008
• 12 Mehrpouya, M., "The potential of additive manufacturing in the smart factory industrial 4. 0 : A review" 9 : 3865-, 2019
• 13 Xuyang Chu, "The method of selective assembly for the RV reducer based on genetic algorithm" SAGE Publications 232 (232): 921-929, 2018
• 14 Bednarczyk, S., "The influence of eccentricity changes on power losses in cycloidal gearing" 3 : 19-29, 2019
• 15 Hsieh, C. F., "The effect on dynamics of using a new transmission design for eccentric speed reducers" 80 : 1-16, 2014
• 16 Gu, L., "The design of new cycloid gear with variable cross section and the research of end milling in fi ve-axis machine tool" 16 (16): 497-502, 2016
• 17 K Olejarczyk, "The cycloidal gearbox efficiency for different types of bearings—Sleeves vs. needle bearings" SAGE Publications 233 (233): 7401-7411, 2019
• 18 Wang, J., "Study on the relationship between the stiff ness of RV reducer and the profi le modifi cation method of cycloid-pin wheel" 2016 : 722-735, 2016
• 19 Yu, H. L., "Study on teeth profi le modifi cation of cycloid reducer based on non-Hertz elastic contact analysis" 48 : 87-92, 2013
• 20 Song Wang, "Study on Torsional Vibration of RV Reducer Based on Time-Varying Stiffness" Springer Science and Business Media LLC 9 (9): 73-84, 2021
• 21 Chen, C., "Structural characteristics of rotate vector reducer free vibration" 4214370 : 1-14, 2017
• 22 Spinea, "Spinea–Excellence in motion: Applications-medial"
• 23 Spinea, "Spinea–Excellence in motion: Applications-defence and security"
• 24 Davis, J., "Smart manufacturing, manufacturing intelligence and demand-dynamic performance" 47 : 145-156, 2012
• 25 An, H., "Rotate vector reducer crankshaft fault diagnosis using acoustic emission techniques" 2017
• 26 Verl, A., "Robots in machining" 68 : 799-822, 2019
• 27 Zhu, D., "Robotic grinding of complex components : A step towards effi cient and intelligent machining—Challenges, solutions, and applications" 65 : 101908-, 2020
• 28 김성현, "Robotic Machining: A Review of Recent Progress" 한국정밀공학회 20 (20): 1629-1642, 2019
• 29 DePree, J., "Robot machining white paper project" Halcon development, Robotic Industries Association
• 30 Chen, Y., "Robot machining : Recent development and future research issues" 66 : 1489-1497, 2013
• 31 Tie Zhang, "Robot Grinding System Trajectory Compensation Based on Co-Kriging Method and Constant-Force Control Based on Adaptive Iterative Algorithm" 한국정밀공학회 21 (21): 1637-1651, 2020
• 32 Yu-Hu Yang, "Response Sensitivity to Design Parameters of RV Reducer" Springer Science and Business Media LLC 31 (31): 2018
• 33 Baron, P., "Research and correlation of diagnostic methods for assessment of the state of oil fi lling in cycloid gearbox" 2015 : 1-9, 2015
• 34 Li, T., "Quantitative correction method for the grinding errors of cycloidal gears in precision reducer" 14 (14): 1-14, 2020
• 35 Kim, Y., "Phase-based time domain averaging(PTDA)for fault detection of a gearbox in an industrial robot using vibration signals" 138 (138): 1-19, 2020
• 36 Bao, J., "Parametric design and effi ciency analysis of the output-pin-wheel cycloid transmission" 8 (8): 349-362, 2015
• 37 Iglesias, I., "Overview of the state of robotic machining : Current situation and future potential" 132 : 911-917, 2015
• 38 Bao, J., "Optimum design of parameters and contact analysis of cycloid drive" 21 : 71-83, 2020
• 39 Shin, J. H., "On the lobe profi le design in a cycloid reducer using instant velocity center" 41 : 596-616, 2006
• 40 Neagoe, M., "On the efficiency of a cycloidal planetary reducer with a modified structure" 8 (8): 544-549, 2007
• 41 Subrin, K., "New redundant architectures in machining : Serial and parallel robots" 63 : 158-166, 2013
• 42 Yaliang Wang, "Multi-objective optimization design of cycloid pin gear planetary reducer" SAGE Publications 9 (9): 168781401772005-, 2017
• 43 Xiaoyan Chen, "Model-based Compensation and Pareto-optimal Trajectory Modification Method for Robotic Applications" 한국정밀공학회 20 (20): 1127-1137, 2019
• 44 Bo, W., "Mixed lubrication analysis of modifi ed cycloidal gear used in the RV reducer" 230 (230): 121-134, 2015
• 45 Kuka, "Milling robot"
• 46 Tianxing Li, "Meshing contact analysis of cycloidal-pin gear in RV reducer considering the influence of manufacturing error" Springer Science and Business Media LLC 42 (42): 2020
• 47 Meng, Y., "Mathematical modeling of the transmission performance of 2K-H pin cycloid planetary mechanism" 42 (42): 776-790, 2007
• 48 Ovako, "Material data sheet -20MnCr5"
• 49 Temoelman, E., "Manufacturing and design" Butterworth-Heinemann 187-200, 2014
• 50 Pandremenos, J., "Machining with robots: A critical review" 1-9, 2011
• 51 Belaganger-Barrette, M., "Machining with industrial robots"
• 52 Sun, X., "Lost motion analysis of CBR reducer" 120 : 89-106, 2018
• 53 The Linh Tran, "Lost Motion Analysis of One Stage Cycloid Reducer Considering Tolerances" 한국정밀공학회 17 (17): 1009-1016, 2016
• 54 Kia Motor, "Kia Stinger: Engine control system/E-CVVT motor"
• 55 Yu, D., "KHV planetary gearing" 4 (4): 21-31, 1987
• 56 Erkaya, S., "Investigation of joint clearance eff ects on welding robot manipulator" 28 : 449-457, 2012
• 57 Kumar, N., "Investigation of a driven-train dynamics of mechanical transmissions incorporating cycloidal drives" Queensland University of Technology 2015
• 58 Oh, Y. T., "Infl uence of joint angular characteristics on the accuracy of industrial robots" 38 (38): 406-418, 2011
• 59 Demir, K. A., "Industry 5. 0 and human-robot co-working" 158 : 688-695, 2019
• 60 Ji, W., "Industrial robotic machining : A review" 103 : 1239-1255, 2019
• 61 Zhang, Y., "Industrial robot rotate vector reducer fault detection based on hidden Markov models" 3013-3018, 2019
• 62 Schneider, U., "Improving robotic machining accuracy through experimental error investigation and modular compensation" 95 : 83-89, 2014
• 63 Harmonic Drive, "Improve the productivity of your factory automation systems with lightweight gears and actuators"
• 64 Hyeong-Joon Ahn, "Impact Analysis of Tolerance and Contact Friction on a RV Reducer using FE Method" 한국정밀공학회 22 (22): 1285-1292, 2021
• 65 Anh Duc Pham, "Hysteresis Curve Analysis of a Cycloid Reducer Using Non-Linear Spring with a Dead Zone" 한국정밀공학회 18 (18): 375-380, 2017
• 66 Austin, M., "How Hyundai’s new, more fuel-effi cient CVVD engine technology works"
• 67 Matsuoka, S., "High-speed end milling of an articulated robot and its characteristics" 95 : 83-89, 1999
• 68 Anh Duc Pham, "High Precision Reducers for Industrial Robots Driving 4th Industrial Revolution: State of Arts, Analysis, Design, Performance Evaluation and Perspective" 한국정밀공학회 5 (5): 519-533, 2018
• 69 Bingkui Chen, "Generation and investigation of a new cycloid drive with double contact" Elsevier BV 49 : 270-283, 2012
• 70 "Gear materials"
• 71 Bai, B., "Failure rate prediction and reliability assessment of RV reducer" 364-371, 2019
• 72 Zhifeng Liu, "Experimental studies on torsional stiffness of cycloid gear based on machining parameters of tooth surfaces" 한국정밀공학회 20 (20): 1017-1025, 2019
• 73 Schneider, U., "Experimental investigation of sources of error in robot machining" 14-26, 2013
• 74 Lauer, D. A., "Encyclopedia of tribology" Springer 1495-1501, 2013
• 75 Pham, A. D., "Efficiency analysis of a cycloid reducer considering tolerance" 38 (38): 490-496, 2017
• 76 Klimchik, A., "Effi ciency evaluation of robots in machining applications using industrial Performance measure" 48 : 12-29, 2017
• 77 Giberti, H., "Eff ect of transmission mechanical characteristics on the choice of a motorreducer" 20 : 604-610, 2010
• 78 Mihailidis, A., "EHL film thickness and load dependent power loss of cycloid reducers" 230 (230): 1303-1317, 2016
• 79 Chiu-Fan Hsieh, "Dynamics Analysis of Cycloidal Speed Reducers With Pinwheel and Nonpinwheel Designs" ASME International 136 (136): 2014
• 80 Xu, L. X., "Dynamic modelling and contact analysis of bearing-cycloid-pinwheel transmission mechanisms used in joint rotate vector reducers" 137 : 432-458, 2019
• 81 Xu, L. X., "Dynamic modeling and contact analysis of cycloid-pin gear mechanism with a turning arm cylindrical roller bearing" 104 : 327-349, 2016
• 82 Y. T. Tsai, "Dynamic Analysis and Reliability Evaluation for an Eccentric Speed Reducer Based on Fem" Oxford University Press (OUP) 36 (36): 395-403, 2020
• 83 Fei Tao, "Digital Twins and Cyber–Physical Systems toward Smart Manufacturing and Industry 4.0: Correlation and Comparison" Elsevier BV 5 (5): 653-661, 2019
• 84 Keyhwan Kim, "Development of the End-effector Measurement System for a 6-axis Welding Robot" 한국정밀공학회 11 (11): 519-526, 2010
• 85 KangKyu Lee, "Development of a Lightweight and High-efficiency Compact Cycloidal Reducer for Legged Robots" 한국정밀공학회 21 (21): 415-425, 2020
• 86 Yii-Wen Hwang, "Determination of surface singularities of a cycloidal gear drive with inner meshing" Elsevier BV 45 (45): 340-354, 2007
• 87 Wan-Sung Lin, "Design of a two-stage cycloidal gear reducer with tooth modifications" Elsevier BV 79 : 184-197, 2014
• 88 Sun, X., "Design and transmission error analysis of CBR reducer" 141 : 2019
• 89 Botsiber, D. W., "Design and performance of the cycloid reducer" 28 : 65-69, 1956
• 90 Blanche, J. G., "Cycloid drives with machining tolerances" 111 : 337-344, 1989
• 91 Kyu Tae Park, "Cyber Physical Energy System for Saving Energy of the Dyeing Process with Industrial Internet of Things and Manufacturing Big Data" 한국정밀공학회 7 (7): 219-238, 2020
• 92 Faydor L. Litvin, "Computerized design and generation of cycloidal gearings" Elsevier BV 31 (31): 891-911, 1996
• 93 Garcia, P. L., "Compact gearboxes for modern robotics : A review" 7 (7): 1-19, 2020
• 94 FuRo, "CanguRo: intelligent robot–transformable and ridable"
• 95 심현식, "Big Data Analysis Methodology for Smart Manufacturing Systems" 한국정밀공학회 20 (20): 973-982, 2019
• 96 Congbin Yang, "Analysis of the Partial Axial Load of a Very Thin-Walled Spur-Gear (Flexspline) of a Harmonic Drive" 한국정밀공학회 21 (21): 1333-1345, 2020
• 97 Hu, Y., "An elastic transmission error compensation method for rotary vector speed reducers based on error sensitivity analysis" 10 : 481-, 2020
• 98 Sangjin Maeng, "An Analytical Model for Grinding Force Prediction in Ultra-Precision Machining of WC with PCD Micro Grinding Tool" 한국정밀공학회 7 (7): 1031-1045, 2020
• 99 Nikhil Gupta, "Additive Manufacturing Cyber-Physical System: Supply Chain Cybersecurity and Risks" Institute of Electrical and Electronics Engineers (IEEE) 8 : 47322-47333, 2020
• 100 SangWook Lee, "A study on the improvement of the cam phase control performance of an electric continuous variable valve timing system using a cycloid reducer and BLDC motor" Springer Science and Business Media LLC 26 (26): 59-70, 2020
• 101 Zang, T., "A semi-analytical load distribution model for cycloid drives with tooth profi le and longitudinal modifi cations" 10 : 4859-, 2020
• 102 Yamato, H., "A partner robot transforming to a vehicle: CanguRo-design, development and evaluation of its in-wheel drive unit with cycloid gear" 1205-1211, 2020
• 103 Li, T., "A new tooth profi le modifi cation method of cycloidal gears in precision reducers for robots" 10 : 1266-, 2020
• 104 Sun, Z., "A new numerical force analysis method of CBR reducer with tooth modifi cation" 1187 : 032053-, 2019
• 105 Pereira, T., "A comparison of traditional manufacturing vs additive manufacturing, the best method for the job" 30 : 11-18, 2019
• 106 Zhen Qin, "A Review of Recent Advances in Design Optimization of Gearbox" 한국정밀공학회 19 (19): 1753-1762, 2018
• 107 Lee, J., "A Cyber-Physical Systems architecture for Industry 4. 0-based manufacturing systems" 3 : 18-23, 2015
• 108 이주연, "A Big Data Analytics Platform for Smart Factories in Small and Medium-Sized Manufacturing Enterprises: An Empirical Case Study of a Die Casting Factory" 한국정밀공학회 18 (18): 1353-1361, 2017
• 109 Jamie, D., "3D printing vs CNC machining: Which is best for prototyping?"