Introducing Compound Planetary Gears (C-PGTs): A Compact Way to Achieve High Gear Ratios for Wearable Robots

Crispel, Stein; García, Pablo López; Verstraten, Tom; Convens, Bryan; Saerens, Elias; Vanderborght, Bram; Lefeber, Dirk

doi:10.1007/978-3-030-01887-0_94

Cited by 6 publications

(4 citation statements)

References 5 publications

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“…Compact PGT configurations on the other side can achieve high gear ratios in very compact shapes, but they suffer from surprisingly high losses derived from high virtual powers (Crispel et al, 2018).…”

Section: Planetary Gearheads: An Extremely Versatile Platformmentioning

confidence: 99%

“…While using several stages of gearheads makes best usage of the high gear meshing efficiencies and leads to highly efficient gearboxes, it typically results in heavy and bulky solutions. Compact PGT configurations on the other side can achieve high gear ratios in very compact shapes, but they suffer from surprisingly high losses derived from high virtual powers (Crispel et al, 2018 ).…”

Section: Review Of Transmission Technologies Currently Used In Industmentioning

confidence: 99%

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Compact Gearboxes for Modern Robotics: A Review

et al. 2020

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On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most industrial robots, two relatively unconventional transmission technologies-Harmonic Drives © and Cycloid Drives-are usually found, which are not so broadly used in other industries. Understanding the origin of this singularity provides valuable insights in the search for suitable, future robotic transmission technologies. In this paper we propose an assessment framework strongly conditioned by HRI applications, and we use it to review the performance of conventional and emerging robotic gearbox technologies, for which the design criterion is strongly shifted toward aspects like weight and efficiency. The framework proposes to use virtual power as a suitable way to assess the inherent limitations of a gearbox technologies to achieve high efficiencies. This paper complements the existing research dealing with the complex interaction between gearbox technologies and the actuators, with a new gearbox-centered perspective particularly focused on HRI applications.

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Section: Planetary Gearheads: An Extremely Versatile Platformmentioning

confidence: 99%

Section: Review Of Transmission Technologies Currently Used In Industmentioning

confidence: 99%

Compact Gearboxes for Modern Robotics: A Review

et al. 2020

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“…The four configurations found in Ref. [35] are called Types A, B, C, D. Type A was chosen since, with the same reduction ratio, it has the fewest moving parts.…”

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confidence: 99%

Dynamically Balanced Pointing System for CubeSats: Study and 3D Printing Manufacturing

et al. 2021

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The increasing presence of additive manufacturing (AM) in the space sector prompted us to investigate the feasibility of a single degree of freedom (DoF) pointing system (PS) made by means of a compound planetary gear train system (C-PGTS) integrating a dynamic balancing system (DBS) and entirely realized in AM. We analyzed in detail the dynamics of the system dealing with the design and the realization of the prototype. Of fundamental importance for this paper is the careful selection of materials for AM suitable for the prohibitive conditions of space. The results, deriving from the comparison between the experimental part and the simulations, underline the correct dimensioning of the PS and the fundamental importance of DBS in maintaining the satellite attitude. The results also confirm the capabilities of AM in the production of complex mechanical systems, allowing high precision, combined with interesting mechanical properties and low weight.This suggests the potential of AM in the space domain, both for structural parts and active components, such as those listed in this work.

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“…In this context, compound planetary gear trains have created great interest. The possibility to print the planets of the subsequent stages altogether in a single piece tackles the coaxial issues commonly related to 3D-printed multistage mechanisms [304,305,306,307].…”

Section: A Flat Lightweight Motor Using Planetary Gearsmentioning

confidence: 99%

Analysis and design of a flexible exoskeleton for the upper limbs

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Han sido muchas las personas que han intervenido y contribuido durante estos años a este trabajo. En primer lugar, agradecer a mis directores de tesis, Manuel Ferre y Miguel Ángel Sánchez-Urán, la oportunidad de formar parte de esta nueva línea de investigación.Gracias, Manolo, por confiar en mi y dejar que pusiese a prueba mis ideas, incluso cuando ello conllevaba la valiosa lección del error. A ti también, Miguel, por enseñarme la importancia de la practicidad y el pensamiento crítico.A Miguel Angel Olivares-Mendez y Antonio Giménez, por su ayuda y mostrarme la importancia de colaborar.Por supuesto, agradecer también a todos los que se han ido uniendo durante estos años a los proyectos LUXBIT y ExoFlex. A todos los alumnos que he tenido el placer de cotutorizar.

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Introducing Compound Planetary Gears (C-PGTs): A Compact Way to Achieve High Gear Ratios for Wearable Robots

Cited by 6 publications

References 5 publications

Compact Gearboxes for Modern Robotics: A Review

Compact Gearboxes for Modern Robotics: A Review

Dynamically Balanced Pointing System for CubeSats: Study and 3D Printing Manufacturing

Analysis and design of a flexible exoskeleton for the upper limbs

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