A method and synchronization device for improving the transmission accuracy of a differential planetary roller screw actuator
A planetary roller and synchronous device technology, which is applied in the field of precision transmission, can solve the problems of control system oscillation and lack of real-time performance, and achieve the effects of preventing grease leakage, simplifying the difficulty of displacement control, and expanding the scope of use
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[0031] Below in conjunction with embodiment and appendix Figure 1-4 The present invention is further elaborated.
[0032] P=P s (1-ω c / ω s ) is the differential planetary roller screw transmission formula, where P is the lead of the screw pair, Ps is the lead of the screw 20, ω s is the screw speed, ω c is the cage speed, it can be seen from the formula, ω c s ,(1-ω c / ω s )c closer to ω s , the smaller the lead of the screw pair, that is, the differential planetary roller screw can be freed from the constraint of the screw pitch and achieve ultra-small lead. But when ω c When changing, the lead of the screw pair also changes, which increases the control difficulty of the actuator. The above formula may also be valid as P=P s (1-θ c / θ s ), θ c / θ s It is the ratio of the cage rotation angle to the screw rotation angle. This application establishes the lead P and θ by establishing c The fixed transmission ratio value to ensure that the P value is constant du...
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