Abstract
The fault of transmission system seriously affects the life of robot joints, so it is urgent to study the crack of the displacement wheel set. Firstly, the tooth profile equation of the modified gear is established, and the time-varying mesh stiffness (TVMS) is obtained. Secondly, the multi-degree-of-freedom electromechanical coupling dynamic equation is established. Finally, the vibration displacement under steady state, start-up and shock conditions is analyzed. The results show that: (a)The positive displacement can increase TVMS, while negative displacement is the opposite. (b) The appearance of cracks accelerates the damage to two adjacent teeth. (c) The decrease of TVMS increases with the increase of crack depth. (d) The crack causes the gear pair to generate vibration shock, and the vibration displacement increases significantly in the case of broken teeth. (e) Statistical analysis of the vibration displacement reveals that the root means square value can detect early cracks, and the kurtosis index can predict life. (f) Cracks have a large effect on the transient process at start-up and shock, but the effect of cracks is weakened during no-load steady-state operation.
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