Efficiency optimization of high-reduction-ratio planetary gears for very high power density actuators

Kobuse, Daiji; Fujimoto, Yasutaka

doi:10.1109/isie.2016.7745072

Cited by 5 publications

(2 citation statements)

References 3 publications

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“…The forward-driving condition is v t ≥ 0 Although this condition differs from the case in Section II-A, it leads to the same equations ( 17)- (24).…”

Section: A Contact Mode At the Bottom Surfacementioning

confidence: 97%

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Bilateral Drive Gear—A Highly Backdrivable Reduction Gearbox for Robotic Actuators

Matsuki

Nagano

Fujimoto

2019

IEEE/ASME Trans. Mechatron.

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For safety purposes, cooperative robots are installed with an actuator composed of a low-power servo motor, a reduction gearbox, and a torque sensor. When cooperative robots make contact with humans or the environment, they must detect the contact force with a force sensor, a contact sensor, or a joint torque sensor. Equipping these sensors increases the cost and size of the application, but can be avoided under sufficient backdrivability of the actuator. To this end, we propose a method that maximizes the power transmission efficiency of the 3K planetary reduction gearbox and develop a prototype of the backdrivable reduction gearbox called the bilateral drive gear. For this maximization, the profile shift coefficients and the number of teeth are decided under some conditions. The forward-and backward-driving efficiencies of the prototype gearbox were 89.0% and 85.3%, respectively, and the reverse-drive starting torque was 0.020 N•m. The drive efficiency of the same gearbox with uncorrected teeth is 68.5%. The forward-driving efficiency was 20.5% higher than the nonoptimized one. We confirmed that prototype gearboxes with different gear ratios are easily backdrivable by hand.

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“…The forward-driving condition is v t ≥ 0 Although this condition differs from the case in Section II-A, it leads to the same equations ( 17)- (24).…”

Section: A Contact Mode At the Bottom Surfacementioning

confidence: 97%

“…We are developing an actuator that detects forces and contacts by increasing the reverse drivability of the reducer itself, negating the need for additional elastic elements and sensors [24], [25]. Table I summarizes the characteristics of various speed reducers installed in robot joints.…”

Section: Introductionmentioning

confidence: 99%