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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