Research Papers

Dynamics Analysis of Cycloidal Speed Reducers With Pinwheel and Nonpinwheel Designs

[+] Author and Article Information
Chiu-Fan Hsieh

Department of Mechanical and
Computer-Aided Engineering,
National Formosa University,
64 Wunhua Road, Huwei,
Yunlin, Taiwan
e-mail: cfhsieh@nfu.edu.tw

Contributed by the Power Transmission and Gearing Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 25, 2014; final manuscript received June 5, 2014; published online June 26, 2014. Assoc. Editor: Zhang-Hua Fong.

J. Mech. Des 136(9), 091008 (Jun 26, 2014) (11 pages) Paper No: MD-14-1086; doi: 10.1115/1.4027850 History: Received January 25, 2014; Revised June 05, 2014

Cycloidal speed reducers are composed primarily of an eccentric shaft, output parts, and a set comprising a cycloidal gear and pinwheel with pins or a cycloidal gear and cycloid internal gear. This paper investigates the contact and collision conditions of these components, as well as their stress variations during the transmission process. To do so, a system dynamics analysis model of a cycloidal speed reducer is constructed, together with dynamics analysis models for two design types: A traditional pinwheel design and a nonpinwheel design (i.e., a design in which a cycloid internal gear replaces the pinwheel). Based on the theory of gearing, a mathematical model of the pinwheel with pins, cycloidal gear, and cycloid internal gear is then built from which the component geometry can be derived. These dynamics analysis models, constructed concurrently, are used to investigate the components' movements and stress variations, and determine the differences between the transmission mechanisms. The results indicate that the nonpinwheel design effectively reduces vibration, stress value, and stress fluctuation, thereby enhancing performance. An additional torsion test further suggests that the nonpinwheel design's output rate is superior to that of the traditional pinwheel design.

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Fig. 1

Generation principle of cycloidal gear and pin wheel with pins

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Fig. 2

Generation principle of cycloid internal gear

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Fig. 3

Reducer with pinwheel design: (a) front view, (b) 3D view, and (c) exploded view

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Fig. 4

Reducer with nonpinwheel design: (a) front view, (b) 3D view, and (c) exploded view

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Fig. 5

Angular velocity of eccentric shaft

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Fig. 6

Angular velocity of cycloidal gear

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Fig. 7

Trajectory curve of point q: (a) point q indication, (b) three trajectory curves, and (c) local amplification

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Fig. 8

Velocity analysis of point q: (a) three velocity curves and (b) error = simulation − theoretical

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Fig. 9

Variation of the pin 1's center: (a) spin of pins and (b) Cx2+Cy2

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Fig. 10

Grid calculation: (a) eccentric shaft, (b) output parts, and (c) gears of pin design

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Fig. 11

Stress calculation (input rotation angle at 74 deg): (a) eccentric shaft, (b) output parts, and (c) gears of pin design

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Fig. 12

Stress of eccentric shaft

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Fig. 13

Stress of cycloidal gear

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Fig. 14

Stress of pinwheel and cycloid internal gear

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Fig. 15

Stress of output parts

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Fig. 16

Stress of the pin 1

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Fig. 17

Processed products of main parts: (a) pin design and (b) nonpin design

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Fig. 18

Experimental equipment

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Fig. 19

Comparison of torsion




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