Table 2 Properties considered for the transmission system

Teeth number

z_p = 110, z_g = 30

Support damping (N·s/m)

c_py = c_pz = 6770

Base radius (m)

R_p = 0.186, R_g = 0.051

c_gy = c_gz = 5078

Mass (kg)

m_p = 68, m_g = 8.4

Rotary inertia (N·m·s²)

J_p = 0.8, J_g = 0.007

Base helix angle (º)

β_b = 13.6

J_I = 0.8323, J_O = 1.827

Backlash (m)

2b = 0.4 × 10⁻³

Tooth profile error amplitude (m)

e_a = 4 × 10⁻⁶

Support stiffness (N/m)

k_py = k_pz = 3.6 × 10⁸,

Tooth profile error wave number

υ = 1

k_gy = k_gz = 2.7 × 10⁸

Initial phase (rad)

0

Torsion stiffness (N·m)

k_p = 7.59 × 10⁵, k_g = 6.94 × 10⁵

Material coefficient (s/m)

α = 0.3

Damping coefficient

ζ_m = 0.05, ζ_p = ζ_g = 0.02