2A2-N05 Worm Gear with Switchable Backdrivability : 2nd Report, The influence that vibration direction gives in backdrivability(Mechanism and Control for Actuator (2))

Takayama, Toshio; Hisamatsu, Naoto; Omata, Toru

doi:10.1299/jsmermd.2014._2a2-n05_1

Cited by 2 publications

(4 citation statements)

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“…Assuming µ 2 ≈ 0 and µ n Z i ≈ 0 , then Eqs. ( 19) and ( 11) can derive µ as follows: (11) where h ij is defined by Figure 6(a) shows the experimental setup for µ s measurement. To measure η gross at the beginning of the forward drive, we gradually increase the load of the input shaft while applying a constant load (29.4 N) to the output pulley.…”

Section: Measurement Of µ S and µ Dmentioning

confidence: 99%

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Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation

Noda,

Igari,

Endo

et al. 2023

Robomech J

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Switching backdrivability according to use status is important to attain energy-saving and compliance in co-worker robots. Authors have proposed switching backdrivability by exciting gear surface, eliminating the need for sensors while switching. We have confirmed that exciting 2K-H planetary gear can switch its backdrivability. To systematically design the switching backdrivable 2K-H planetary gear, this study reveals less back-drive condition and the required torque for a vibrator. In the less-backdrivable condition, the tooth number difference between the fixed and output gears is dominant. Furthermore, the required torque for the vibrator increases as the load of the output shaft and the vibration frequency increase. The experimental results of the less-backdrivable condition and the required torque for the vibrator are almost entirely consistent with simulation result of the mechanical model

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Section: Measurement Of µ S and µ Dmentioning

confidence: 99%

“…Apart from the clutch mechanism, the proposed method does not shut down the power transmission path, reducing the risks of secondary disaster. Takayama et al examined the switching backdrivability in worm gears [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation

Noda,

Igari,

Endo

et al. 2023

Robomech J

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show abstract

“…Moreover, such motion causes a misalignment of the axes of the shafts. Therefore, in this paper we will discuss the vibrations caused in the direction of the axis of the worm screw and of the worm wheel [16], as such vibrations do not cause a change in the gap of the gear shafts. The specifications of the worm gear (composed of a worm screw and a worm wheel) are shown in Table 1.…”

Section: Theoretical Difference Of the Backdrivability By The Vibratimentioning

confidence: 99%

“…Therefore, we applied the friction reduction phenomenon by the vibrations [13,14] to the worm gear. The developed worm gear can switch backdrivability appropriately, and it realized the sensorless high compliance worm gear [15,16]. In this study, we created a dynamic model of the worm gear, analyzed the friction-reduction phenomenon caused by the vibration, and estimated vibration strength required to obtain backdrivability.…”

Section: Introductionmentioning

confidence: 99%

Worm gear mechanism with switchable backdrivability

Takayama

Hisamatsu

2019

Robomech J

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A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis.

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2A2-N05 Worm Gear with Switchable Backdrivability : 2nd Report, The influence that vibration direction gives in backdrivability(Mechanism and Control for Actuator (2))

Cited by 2 publications

References 0 publications

Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation

Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation

Worm gear mechanism with switchable backdrivability

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