Dynamics modeling of gear transmissions with asymmetric load-dependent friction

This paper proposes a new concise mathematical model of gear transmission dynamics with asymmetric load-dependent friction. It is built only upon the rigid-contact mechanics and the Coulomb friction law, but provides a new theoretical perspective on dynamic and static char-acteristics of gear transmissions. The presented model is of the form of a differential-algebraic inclusion (DAI) characterized by some parameters, including input-side and output-side asym-metry coefficients. The presented model properly captures the static friction and even the non-backdrivability. It is applicable to different classes of transmissions, such as leadscrew transmissions, worm gear transmissions, and spur gear transmissions. The DAI representation is extended into a multi-dimensional representation for articulated rigid-body systems driven through joint transmissions. Moreover, simulation algorithms are derived through the implicit Euler discretization. Some simulation examples illustrate the capability of the presented sim-ulation algorithm to reproduce load-dependent asymmetric frictional behaviors, which cannot be reproduced by conventional load-independent joint friction models.

Automated summary

This paper proposes a new concise mathematical model for describing the dynamics of gear transmission with asymmetric load-dependent friction. The model captures static friction and non-backdrivability accurately, and is applicable to different types of transmissions.