A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry

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.

Figures (9)

• Figure 1: Schematic of the series stiffness superposition model components.
• Figure 2: Schematic of Curve-Circles contact: cycloidal profile vs. pin array.
• Figure 3: Schematic of FewTeeth analytic tooth contact (internal-external gear pair).
• Figure 4: Angular pre-screening for FewTeeth contact search: only the shaded sectors can carry load on each flank.
• Figure 5: Modular assembly workflow for the reducer dynamic model.