2P1-D03 Worm gear that can change its backdrivability(Mechanism and Control for Actuator (3))

Hisamatsu, Naoto; Takayama, Toshio; Omata, Toru

doi:10.1299/jsmermd.2013._2p1-d03_1

Cited by 1 publication

(2 citation statements)

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“…Though the required torque is smaller than that simulated at V in = 3.6 V, the experimental results of the required torque are mostly consistent with the simulation results of Eq. (10). Note: The beginning phase of the eccentriccam's constant rotation phase was determined by the time history of the current and angular velocity.…”

Section: Required Vibrator Torquementioning

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: Required Vibrator Torquementioning

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%