Coupled vibration for a two-stage movable tooth drive system

In this paper, an electromechanical coupled dynamics model of a two-stage movable tooth drive system plus a motor is proposed. The electromechanical coupled dynamics equations of the system are derived. Based on it, the equations of the sensitivity of the natural frequencies to the system parameters are deduced. Natural frequencies and vibration modes of the drive system are investigated. The sensitivity of the natural frequencies to the system parameters is analyzed. Results show that the whole system has the low-speed mode, the whole vibration mode and the high-speed mode. The low-speed mode mainly occurs in the second stage drive. The high-speed mode mainly occurs in the first stage drive. The whole vibration mode occurs in the first and the second stage drives. For the three modes, sensitivity of the natural frequency to the coil current increases linearly. The natural frequencies increase quicker with the coil current for a large current. The rotation position angle of the wave generator has an important effect on the natural frequencies.