Title:
SPEED REDUCER ANGULAR TRANSMISSION ERROR IDENTIFICATION SYSTEM AND SPEED REDUCER ANGULAR TRANSMISSION ERROR IDENTIFICATION METHOD
Document Type and Number:
Japanese Patent JP2018192578
Kind Code:
A
Abstract:
To provide a speed reducer angular transmission error identification system which can accurately identify a phase of an angular transmission error.SOLUTION: This system includes: a fluctuation data acquisition part; a periodic function calculation part 43, an average phase calculation part 44, and an angular transmission error identification part 46. in this system, first fluctuation data is data which represents periodic fluctuation of a motion of a second joint due to an angular transmission error of a first motor when a first joint control part 24 rotates an output shaft 11a of a first motor 11 in a first direction at a constant first target speed, and simultaneously, a second joint control part 27 rotates an output shaft 16a of a second motor 16 at a constant second target speed, and second fluctuation data is data which represents periodic fluctuation of a motion of the second joint due to an angular transmission error of the first motor when the first joint control part rotates the output shaft of the first motor in a second direction at a constant second target speed, and simultaneously, the second joint control part rotates the output shaft of the second motor at the constant second target speed.SELECTED DRAWING: Figure 2
Inventors:
TSUBOI NOBUTAKA
Application Number:
JP2017099193A
Publication Date:
December 06, 2018
Filing Date:
May 18, 2017
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD
International Classes:
B25J13/00
Domestic Patent References:
| JP2011224662A | 2011-11-10 | |||
| JP2011212823A | 2011-10-27 | |||
| JPS63153610A | 1988-06-27 | |||
| JP2014136260A | 2014-07-28 | |||
| JP2015006705A | 2015-01-15 | |||
| JP2010149203A | 2010-07-08 |
Attorney, Agent or Firm:
Patent business corporation Yuko patent office