🤖 AI Summary
Precision reducers are critical to robotic motion accuracy and dynamic performance, yet challenges persist in contact modeling, stiffness evaluation, and vibration prediction. This work proposes a unified dynamic simulation framework based on explicit contact geometry, integrating advanced contact mechanics theory with efficient numerical solvers to enable rapid reconfiguration across multiple reducer types. The resulting toolkit achieves significantly improved computational efficiency while maintaining high fidelity. Validation against publicly available benchmark data demonstrates that its simulation accuracy for transmission characteristics surpasses that of conventional dynamics software, offering strong generality and extensibility.
📝 Abstract
Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper presents a dynamic toolkit for analyzing the transmission characteristics of precision reducers with explicit contact geometry. A unified framework is proposed to address the challenges in modeling accurate contact behaviors, evaluating gear stiffness, and predicting system vibrations. By integrating advanced contact theories and numerical solving methods, the proposed toolkit offers higher precision and computational efficiency compared to traditional dynamics software. The toolkit is designed with a modular, scriptable architecture that supports rapid reconfiguration across diverse reducer topologies. Numerical validation against published benchmarks confirms the accuracy of the proposed approach.