Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Fanghella, Pietro; Bruzzone, Luca; Ellero, Stefano; Landò, R.

doi:10.1080/15397734.2015.1047956

Cited by 20 publications

(5 citation statements)

References 16 publications

(14 reference statements)

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“…Moreover, the investigation will be deepened considering not only linear systems, but extending the comparison with other motion profiles also in presence of the typical nonlinearities of real mechatronic axes with ordinary [22] and planetary [23] gears.…”

Section: Conclusion and Future Developmentsmentioning

confidence: 99%

Analytical expression of motion profiles with elliptic jerk

et al. 2023

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The paper discusses the analytical expressions of a motion profile characterized by elliptic jerk. This motion profile is obtained through a kinematic approach, defining the jerk profile and then obtaining acceleration, velocity, and displacement laws by successive integrations. A dimensionless formulation is adopted for the sake of generality. The main characteristics of the profile are analyzed, outlining the relationships between the profile parameters. A kinematic comparison with other motion laws is carried out: trapezoidal velocity, trapezoidal acceleration, cycloidal, sinusoidal jerk, and modified sinusoidal jerk. Then, the features of these motion profiles are evaluated in a dynamic case study, assessing the vibrations induced to a second-order linear system with different levels of damping. The results show that the proposed motion law provides a good compromise between different performance indexes (settling time, maximum absolute values of velocity and acceleration).

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Section: Conclusion and Future Developmentsmentioning

confidence: 99%

Analytical expression of motion profiles with elliptic jerk

et al. 2023

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“…• the comparison of the EJ profile to other motion laws with reference to second-order SISO linear systems, already discussed in the time domain in [10], will be carried out also in the frequency domain to obtain more general results; • then the comparison will be extended to mechatronic axes with gearboxes, which are SISO systems characterized by strong nonlinearities (static friction, backlash), both in the case of ordinary gearheads [22] and of epicyclical gearboxes [23,24]; • the multibody simulation results on the RRFbR manipulator will be experimentally validated realizing a prototype of the manipulator; the scope of this prototype is not only related to motion planning but also to promote its usefulness in replacing the widespread SCARA architecture in the industry with energy-saving purposes, thanks to its static balancing; • remaining in the fields of robotics, the EJ profile will be compared to other motion laws for position control of flexible mechanisms, more subject to the problem of relevant residual vibrations [25]; in particular, the prototype of a Cartesian parallel robot with elastic joints realized by superelastic inserts [26] will be exploited.…”

Section: Future Workmentioning

confidence: 99%

Application of Elliptic Jerk Motion Profile to Cartesian Space Position Control of a Serial Robot

Bruzzone

Stretti

2023

Applied Sciences

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The paper discusses the application of a motion profile with an elliptic jerk to Cartesian space position control of serial robots. This motion profile is obtained by means of a kinematic approach, starting from the jerk profile and then calculating acceleration, velocity and position by successive integrations. Until now, this profile has been compared to other motion laws (trapezoidal velocity, trapezoidal acceleration, cycloidal, sinusoidal jerk, modified sinusoidal jerk) considering single-input single-output systems. In this work, the comparison is extended to nonlinear multi-input multi-output systems, investigating the application to Cartesian space position control of serial robots. As case study, a 4-DOF SCARA-like architecture with elastic balancing is considered; both an integer-order and a fractional-order controller are applied. Multibody simulation results show that, independently of the controller, the behavior of the robot using the elliptic jerk profile is similar to the case of adopting the sinusoidal jerk and modified sinusoidal jerk laws, but with a slight reduction in the position error (−3.8% with respect to the sinusoidal jerk law and −0.8% with respect to the modified sinusoidal jerk law in terms of Integral Square Error) and of the control effort (−8.2% with respect to the sinusoidal jerk law and −1.3% with respect to the modified sinusoidal jerk law in terms of Integral Control Effort).

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“…Over the years, nutation mechanical gears have been widely applied in many fields, such as micro-robot reducer motors, propeller helicopter reducers, and robot wrist joint reducers [2][3][4]. Research on the nutation mechanical gear has always been studied, based on the principles of dynamics and kinematics [5,6]. However, traditional nutation drive, via the mechanical gear, generally faces some inherent issues such as friction loss, mechanical fatigue and vibration.…”

Section: Introductionmentioning

confidence: 99%

Mathematic Modelling and Numerical Analysis for a Novel Inner-Type Nutation Magnetic Drive

Lou

Yao

2020

Energies

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This paper presents an inner-type of magnetic gears for non-contact driving, based on the nutation gearing principle. An improved three-dimensional analytical model, based on the magnetic vector potential of rectangular permanent magnets, via the equivalent current, is deduced for the proposed nutation magnetic gears. The transformation of coordinates is applied for a global field solution. The analytical model and the finite element model have analyzed the output torque of the nutation magnetic drive, respectively. The results show that the values calculated by the two models are consistent. The proposed analytical model can provide a reference for the design and optimization of nutation magnetic gears and other permanent magnetic mechanisms with rectangular magnets.

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Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Cited by 20 publications

References 16 publications

Analytical expression of motion profiles with elliptic jerk

Analytical expression of motion profiles with elliptic jerk

Application of Elliptic Jerk Motion Profile to Cartesian Space Position Control of a Serial Robot

Mathematic Modelling and Numerical Analysis for a Novel Inner-Type Nutation Magnetic Drive

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