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Table 2 Natural frequencies and principal modes of cycloid ball planetary transmission

From: Dynamic modelling and natural characteristic analysis of cycloid ball transmission using lumped stiffness method

Natural frequency f i /(Hz)

 

0

708.6

1309.8

2552.8

2705.3

5927.8

6614.9

Principal mode \(\phi_{\varvec{i}}\)

\(\phi^{(i)}_{{ 1 {\text{x}}}}\)

0

− 0.0479

0.1962

− 0.2455

− 0.1651

− 0.8094

− 0.6225

\(\phi^{(i)}_{{ 1 {\text{u}}}}\)

− 1

− 0.2214

0.2464

− 0.0562

− 0.0312

0.0562

− 0.052

\(\phi^{(i)}_{{ 2 {\text{x}}}}\)

0

0.0432

− 0.1024

− 0.3741

− 0.3328

0.6434

0.6365

\(\phi^{(i)}_{{ 2 {\text{u}}}}\)

1

− 2.8938

1.85

1.1826

0.8576

0.7569

0.8729

\(\phi^{(i)}_{{ 3 {\text{x}}}}\)

1

− 0.4340

2.3444

− 2.7125

− 1.7785

0.0847

− 2.2035

\(\phi^{(i)}_{{ 3 {\text{u}}}}\)

0

− 0.2674

− 0.2689

− 0.0445

− 0.1416

− 0.0581

− 0.0665

\(\phi^{(i)}_{{ 5 {\text{u}}}}\)

0

− 0.0608

− 0.0759

− 0.2846

0.3459

0.0029

0.0025