Modeling and Analysis of Dual Motor Precision Transmission Mechanism

Abstract

Abstract Aiming at the difficulty of fine modeling of dual-motor precision transmission mechanism, the modeling of friction and clearance of the system is studied. Firstly, the structure of the double-motor precision transmission mechanism is introduced, the system is simplified to a three-mass system, and a linear model of the system is established. On this basis, the improved stribeck model is used to describe the friction nonlinearity inside the two-way transmission chain and the large ring gear, and the dead zone model is used to describe the gap nonlinearity between the pinion and the large ring gear, thus forming a complete dual-motor precision transmission mechanism. kinetic model. An experimental device was built, and different excitation signals were used to verify the accuracy of the model. The experimental results show that the Pearson correlation coefficient between the established dynamic model and the actual system is >99% under various excitation signals, which shows the accuracy of the modeling method.