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With the trend toward high integration and modularity of robot joints, the Inner Meshing Variable Tooth Thickness Bevel Planar Tooth Gear Enveloping Worm Drive (abbreviated as IVPE drive), was proposed. And an innovative robot joint applying the IVPE drive was designed successfully integrating drive, transmission and support into a single unit. The novel joint is characterized by several advantages, such as a large single-stage reduction ratio, strong carrying capacity, simple structure, small size, smooth transmission, long service life with high precision, power-off protection by mechanical self-locking. Through the systematic studies of the IVPE drive, we have identified the influence mechanisms of relevant parameters on its meshing performance. Based on that, this paper focuses on the optimization of the IVPE drive applied in a robot joint to improve its performance in theory. The main contents are shown as follows: (1) Equations for the macro and micro meshing performance of the IVPE drive were derived based on gear meshing theory and differential geometry. The former involves variations in contact lines’ spaces and distribution areas, while the latter includes parameters such as sliding angle, entrainment speed, and induced normal curvature. (2) A multi-objective optimization model of the IVPE drive was developed in terms of optimization theory and worm drive design theory. Basic design parameters such as base circle radius, center distance, etc. were considered as optimization variables, while constraint conditions were determined by the geometry structure to ensure non-undercutting, adequate motor installation size, and sufficient tip thickness, etc. (3) The optimization model was solved by MATLAB software with the “fmincon” function to calculate optimal design parameters, and then analyses were conducted to evaluate their impacts on the IVPE drive’s meshing performance. Through optimization, the results benefited the stress distribution and lubrication state between conjugate tooth surfaces in theory, indicating that the macro and micro meshing performances of the IVPE drive were improved. Therefore, this paper could provide a theoretical basis to determine basic design parameters for the IVPE drive’s subsequent redesign and manufacture.

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Optimization Design of Macro and Micro Meshing Performances of a Novel Inner Gear Enveloping Worm Drive

  • 会议论文

  • 发表日期：

    2026年

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  • Jingzi Zhang,
  • Shiyu Ma,
  • Xuegang Li,
  • Ju Han,
  • Xueyan Zhang,
  • Shuai Zhao

摘要

With the trend toward high integration and modularity of robot joints, the Inner Meshing Variable Tooth Thickness Bevel Planar Tooth Gear Enveloping Worm Drive (abbreviated as IVPE drive), was proposed. And an innovative robot joint applying the IVPE drive was designed successfully integrating drive, transmission and support into a single unit. The novel joint is characterized by several advantages, such as a large single-stage reduction ratio, strong carrying capacity, simple structure, small size, smooth transmission, long service life with high precision, power-off protection by mechanical self-locking. Through the systematic studies of the IVPE drive, we have identified the influence mechanisms of relevant parameters on its meshing performance. Based on that, this paper focuses on the optimization of the IVPE drive applied in a robot joint to improve its performance in theory. The main contents are shown as follows: (1) Equations for the macro and micro meshing performance of the IVPE drive were derived based on gear meshing theory and differential geometry. The former involves variations in contact lines’ spaces and distribution areas, while the latter includes parameters such as sliding angle, entrainment speed, and induced normal curvature. (2) A multi-objective optimization model of the IVPE drive was developed in terms of optimization theory and worm drive design theory. Basic design parameters such as base circle radius, center distance, etc. were considered as optimization variables, while constraint conditions were determined by the geometry structure to ensure non-undercutting, adequate motor installation size, and sufficient tip thickness, etc. (3) The optimization model was solved by MATLAB software with the “fmincon” function to calculate optimal design parameters, and then analyses were conducted to evaluate their impacts on the IVPE drive’s meshing performance. Through optimization, the results benefited the stress distribution and lubrication state between conjugate tooth surfaces in theory, indicating that the macro and micro meshing performances of the IVPE drive were improved. Therefore, this paper could provide a theoretical basis to determine basic design parameters for the IVPE drive’s subsequent redesign and manufacture.