Omnidirectional driving gears and their input mechanism with passive rollers

Tadakuma, Kenjiro; Tadakuma, Riichiro; Ioka, Kyohei; Kudo, Takeshi; Takagi, Minoru; Tsumaki, Yuichi; Higashimori, Mitsuru; Kaneko, Makoto

doi:10.1109/iros.2012.6385464

Cited by 14 publications

(8 citation statements)

References 5 publications

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“…Figure 7 illustrates the components of the proposed stabilizing mechanism. The stabilizing mechanism consists of an XY Stage mechanism with omnidirectional driving gear [4] The payload weight and the position of its COG on the surface of the ISP are measured with three CZL204E strain gauge load cells located on the platform. We propose the calculation of the height of the payload COG by measuring the roll and pitch inclination angles of the passive gimbal caused by the placement of the payload on the ISP.…”

Section: Static Balance: Disturbances By Host Vehiclementioning

confidence: 99%

Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

Moya

Araki²,

Okada³

et al. 2017

Adv. sci. technol. eng. syst. j.

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Energy efficiency is a salient design consideration for stabilization mechanisms when assembled on a battery-powered vehicle. In this paper we study the implementation of a two-axis gimbal with passive revolute joints for motion isolation of an inertially stabilized platform (ISP) mounted on a host vehicle. The objective is for the ISP to maintain a steady line of sight (LOS) of a payload placed in an arbitrary position on the ISP workspace by performing mass stabilization. The proposed method eliminates the need to operate gimbal motors throughout the operation of the host vehicle, stabilizing the platform LOS by relying on the gimbal passive joints acting as suspension to isolate the ISP from disturbancesimparted by the host vehicle. We describe the principle of operation and a prototype of the proposed stabilizing mechanism is presented.

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Section: Static Balance: Disturbances By Host Vehiclementioning

confidence: 99%

Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

Moya

Araki²,

Okada³

et al. 2017

Adv. sci. technol. eng. syst. j.

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“…Accordingly, when in actual use, the gear with a conical passive roller should be designed with at least three layers [4]. However, for the first trial, we made the prototype with only one layer of conical passive rollers, as shown in Fig.…”

Section: A the Gear With Conical Passive Rollersmentioning

confidence: 99%

“…12 continuously to drive the pinion and rack gear for the sliding motion of the spur gear or gear with passive rollers, and measured the translational force when the fixed gear started to slide. We compared the static frictional resistances of a gear with crowning (crowning gear) [4], a spur gear, a Teflon-coated spur gear, and a gear with conical passive rollers. In this paper, we use the term "Roller gear" to mean a gear with conical or flat passive rollers in the graphs.…”

Section: A Experiments Of the Static Frictional Resistance Of The Geamentioning

confidence: 99%

“…concave versions of the omnidirectional driving gears and performed various experiments to test their benefits [4].…”

Section: Introductionmentioning

confidence: 99%

“…For this purpose, we adopted "crowning gears" with thinner curved teeth as the spur gears to drive the omnidirectional gear in the previous research [4]. This time, we studied gears with passive rollers to drive omnidirectional gears with smaller frictional resistance than crowning gears [5].…”

Section: Introductionmentioning

confidence: 99%

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The gear mechanism with passive rollers: The input mechanism to drive the omnidirectional gear and worm gearing

Tadakuma

Takagi

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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We have been studying an omnidirectional driving gear mechanism that can generate thrusting force in an arbitrary direction on one surface, which may be flat or curved. This omnidirectional gear is driven by spur gears that are perpendicular. When one spur gear rotates to drive the omnidirectional gear, the other slides between the teeth of the omnidirectional gear and vice versa. In this paper, we introduce gears with passive rollers to reduce the frictional resistance with a mechanism including smooth rolling motion of conical or flat passive rollers, which can boost the power transmission efficiency of the omnidirectional driving gear system. We also confirmed another useful function of this gear with passive rollers as a worm wheel to transmit power from a worm gear with higher energy efficiency than an ordinary worm wheel.

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SCALA: Scalable Modular Rail based Multi-agent Robotic System for Fine Manipulation over Large Workspaces

Tavakoli

Viegas

Sgrigna

et al. 2017

J Intell Robot Syst

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Omnidirectional driving gears and their input mechanism with passive rollers

Cited by 14 publications

References 5 publications

Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

The gear mechanism with passive rollers: The input mechanism to drive the omnidirectional gear and worm gearing

SCALA: Scalable Modular Rail based Multi-agent Robotic System for Fine Manipulation over Large Workspaces

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