提出一套高精度减速器动态分析工具，支持快速适配不同结构。
A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry
- 基于显式接触几何建模，统一处理接触行为与刚度评估。
- 相比传统软件，计算精度更高、效率更优，验证结果与基准一致。
- 模块化脚本架构，适合研究者快速调试各类减速器拓扑。
精密减速器是人形机器人、四足机器人、协作机器人、工业机器人及SCARA机器人中关键部件，直接影响运动精度与动态性能。本文提出一种具备显式接触几何的精密减速器传动特性动态分析工具包。构建统一框架以解决接触行为建模、齿轮刚度评估及系统振动预测中的挑战。通过融合先进接触理论与数值求解方法，该工具包在精度和计算效率上优于传统动力学软件。工具包采用模块化、可脚本化架构，支持多种减速器拓扑的快速重构。数值验证结果与已有基准数据一致，证明了方法的有效性。
原文摘要 · Abstract (English)
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.
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