Hybrid 3K Compound Planetary Reduction Gearbox with a Roller Transmission Mechanism
Hybrid 3K Compound Planetary Reduction Gearbox with a Roller Transmission Mechanism
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带滚子传动机构的混合式 3K 复合行星减速箱
DOI：
10.1109/tmech.2021.3101236
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Satoru Oba and Yasutaka Fujimoto
中科院分区：
文献类型：
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作者：
矢代航;梶原堅太郎;工藤博幸;佐瀬一弥;Satoru Oba and Yasutaka Fujimoto
机器人的关节中使用了减速齿轮。虽然工业机器人变速箱要求精度和效率，但类人机器人预计将在未来变得更受欢迎。仿人机器人必须考虑灵活性，并要求有较高的背部可驱动性。本文以实现高效率、高精度、高减速比的减速器为目标，通过最大化效率方程，将3K复合行星减速箱与牵引传动相结合，通过实验确定了效率、间隙和角速度变化，并从控制角度论证了所提出机构的有效性。在实验中，我们获得了最大的正向驱动效率为90.90%，向后驱动效率为90.58%，最小回差为1.18弧分。
Reduction gears are used in the joints of the robots. While precision and efficiency are required for industrial robot gearboxes, humanoid robots are expected to become more popular in the future. Flexibility must be considered in humanoid robots, and high back drivability shall be required. In this study, we aimed at realizing high efficiency, and high-precision reduction gears with high reduction ratios by maximizing the efficiency equation, hybridizing a 3K compound planetary reduction gearbox and traction drive, experimentally determining the efficiency, backlash, and angular velocity variation, and demonstrating the effectiveness of the proposed mechanism from a control perspective. In the experiments, we achieved a maximum forward driving efficiency of 90.90%, backward driving efficiency of 90.58%, and a minimum backlash of 1.18 arcmin.