20.500.12556/RUL-154785 A new calculation method for instantaneous efficiency and torque fluctuation of spur gears Nova metoda za računanje trenutnega izkoristka in nihanj momenta pri čelnih zobniških gonilih As a critical component of the joint gearbox, spur gear pairs play a crucial role in energy conversion, limiting the performance of a collaborative robot. Accurately assessing their instantaneous efficiency and torque fluctuation is essential for developing high-precision robot joint control models. This study proposes a computational model to predict the instantaneous efficiency and torque fluctuation of spur gears under typical operating conditions. The model incorporates a torque balance model, a load distribution model, and a friction model to reflect the relationship between gear meshing position and efficiency. The instantaneous efficiency and torque fluctuation of gear pairs were compared with the Coulomb friction model with an average friction coefficient and the elastohydrodynamic lubrication model with a time-varying friction coefficient. The effect of gear contact ratio on efficiency is analysed, while the instantaneous efficiency and torque fluctuation of gears are studied under varying operating conditions. The results indicate a maximum efficiency difference of 1.86 % between the two friction coefficient models. Under specific operating conditions, the instantaneous efficiency variation of the gear pair can reach 3.34 %, and the torque fluctuation can reach 5.19 Nm. Finally, this study demonstrates the effectiveness and accuracy of the proposed method through comparative analysis. collaborative robots instantaneous efficiency torque fluctuation friction coefficient load distribution kolaborativni roboti trenutni izkoristek nihanje momenta količnik trenja porazdelitev obremenitev true false true Angleški jezik Slovenski jezik Članek v reviji 2024-03-01 09:16:53 2024-03-01 09:16:55 2024-03-02 04:05:22 0000-00-00 00:00:00 2024 0 0 Str. 55-69 no. 1/2 Vol. 70 Jan.-Feb. 2024 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.8 0039-2480 10.5545/sv-jme.2023.709 187333891 Tian,__Wang,_Jiang_-_A_new_calculation_method_for_instantaneous_efficiency_and_torque_fluctuation_of_spur_gears.pdf Tian,__Wang,_Jiang_-_A_new_calculation_method_for_instantaneous_efficiency_and_torque_fluctuation_of_spur_gears.pdf 1 09096D052B506C04E097BFFD6D7B98E7 0b4d0a1c28c2ccd1a131f5527995314b797d93136b507959d7bb376c2abd6e99 1effe79c-d7a5-11ee-9a1b-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=181372 https://www.sv-jme.eu/sl/article/a-new-calculation-method-for-instantaneous-efficiency-and-torque-fluctuation-of-spur-gears/ 1 13f47478-d7a4-11ee-9a1b-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=181371 Fakulteta za strojništvo Strojniški vestnik 0 0 0