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This paper proposes a method for suppressing the vibrations that occur under load conditions in trochoidal reduction gears. For the proposed suppression method, a general-purpose vibration-suppression control system based on a disturbance observer is constructed without the use of a load-side sensor or the individual values of the reduction gear. The proposed method is shown to effectively improve the accuracy of the trajectory tracking. This paper proposes a new model for calculating the angular transmission error caused by a deformation of a trochoidal gear under load conditions. Using the state observer designed along with this model, the shaft torsional vibration produced under load conditions is estimated. The experimental results validate the proposed angular transmission error model and confirm the improved accuracy of the trajectory tracking.

Vibration Suppression Control Method for Trochoidal Reduction Gears under Load Conditions