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An elastic transmission error (TE) compensation method for a rotary vector (RV) speed reducer is proposed to improve its transmission accuracy based on error sensitivity analysis. Elastic and geometric TEs of the RV speed reducer can be compensated by tooth surface modification of cycloidal gears. Error coefficients of the TE of the RV speed reducer are derived to determine error factors with positive effects on TEs based on error sensitivity analysis. A total TE, including the elastic TE, is obtained by using Adams. The elastic TE compensation method is developed to calculate modification values of error factors with positive effects on the TE to decrease the elastic TE of the RV speed reducer. TE simulation results show that the elastic TE accounts for 25.28% of the total TE, and calculation results show that the maximum contact force and normal deformation of the modified prototype are obviously improved. The feasibility and accuracy of the proposed elastic TE compensation method for RV speed reducers were verified by TE experiments. TE experiment results showed that the TE of the modified RV speed reducer is 47.22% less than that of the initial RV speed reducer.

An Elastic Transmission Error Compensation Method for Rotary Vector Speed Reducers Based on Error Sensitivity Analysis