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Technical Briefs

An Active Gear Balancer for Torque Compensation

[+] Author and Article Information
Jing Sun

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, People’s Republic of Chinasunjingbjtu@yahoo.cn

Yan-An Yao1

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, People’s Republic of Chinayayao@center.njtu.edu.cn

1

Corresponding author.

J. Mech. Des 133(1), 014502 (Jan 03, 2011) (10 pages) doi:10.1115/1.4003141 History: Received November 17, 2009; Revised November 14, 2010; Published January 03, 2011; Online January 03, 2011

This paper presents a new concept of torque balancer for reducing the input torque fluctuation of a mechanism. The proposed active gear balancer consists of a differential gear train and a servomotor. By adjusting the control function of the servomotor, the input torque of the working mechanism can be balanced. Just like a gear reducer, the active gear balancer can be assembled and disassembled easily. An exact control function, which can completely eliminate the input torque fluctuation of the mechanism, is derived for the servomotor by an analytical method. Furthermore, both sequential and integrated optimization methods are developed for obtaining satisfactory trade-offs between the input torque fluctuations of the original motor and the servomotor. Additionally, learning control theory is validated to be a feasible and effective approach in controlling the servomotor to minimize the input torque fluctuation and to compensate the phase difference between the two input members. By taking a slider-crank mechanism as the working mechanism, four examples are given to illustrate the design procedures and to show their feasibilities.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

The three-dimensional model of the active gear balancer: (a) a working platform with the active gear balancer and (b) the internal structure of the active gear balancer: 1-the crank, 2-the link, 3-the slider, 4-the working platform, 5-the original motor, 6-the speed reducer, 7-the servomotor, 8-the two-DOF mechanism, a-the sun gear, b-the internal ring gear, and d-the fixed axis gear

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Figure 2

The scheme of a system with the active gear balancer: a-the sun gear, b-the internal ring gear, g-the planetary gear, H-the planetary carrier, d-the fixed axis gear, 1-the crank, 2-the link, and 3-the slider

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Figure 3

The geometrical relationship between the inside teeth and the outside teeth of gear b

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Figure 4

The scheme of the structure of gear g

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Figure 5

Design results of example 1: (a) input torques M1′, M1, and Ma and (b) control function φ̈a

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Figure 6

Design results of example 2.1: (a) input torques M1′, M1, and Ma and (b) control function φ̈a

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Figure 7

Input torques M1′, M1, and Ma of example 2.2

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Figure 8

Design results of example 2.3: (a) input torques M1′, M1, and Ma and (b) control function φ̈a

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Figure 9

Design results of example 3: (a) input torques M1′, M1, and Ma and (b) control function φ̈a

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Figure 10

Design results of example 4.1: (a) input torques M1′, M1, and Ma and (b) control function φ̈a

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Figure 11

Design results of example 4.2: (a) input torques M1′, M1, and Ma and (b) control function φ̈a

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