Tooth contact analysis with latent error of double circular-arc spiral bevel gears for industrial robot joint nutation drive

The influence of the cone vertex error and tilt error on the tooth contact trace of double circular-arc spiral bevel gears for industrial robot joint nutation drive has been studied in this paper. According to the meshing relationship between double circular-arc spiral bevel gear and crown gear, the meshing coordinate systems with latent error parameters of cone vertex error and tilt error were established, and the tooth profile equations of external and internal spiral bevel gears were deduced. According to the meshing equation and coordinate transformation, the contact trace equation of the tooth surface was established, and the influence of different latent error values on the location of the contact trace was solved and analyzed. The finite element loading contact simulation of the double circular-arc spiral bevel gears with different latent error values was carried out. The results of the simulation analysis and numerical analysis were basically consistent. The latent errors would cause noise and vibration of industrial robot joint nutation drive and affect the service life of double circular-arc spiral bevel gears.