Air Option 1: Technology Translation - The Gear Bearing Drive: A Novel Compact Actuator for Robotic Joints

这项名为齿轮轴承驱动(GBD)技术的先进紧凑型执行器技术翻译项目专注于翻译先进紧凑的执行器技术，以填补机器人和运动控制行业的技术空白，该行业需要新一代执行器能够展现出许多理想的特性，包括高功率密度和高效率、高定位分辨率、高扭矩能力和扭转刚度、轻量化设计和低成本封装。齿轮轴承驱动或GBD是一种紧凑的机构，具有两个关键功能。它既是提供扭矩的致动器，也是提供支撑的关节。这可能是由于外转子(OutRunner型)直流电机技术与齿轮轴承技术的新颖组合。GBD是一种功率密度大的无轴承动力关节。它利用独特的两级行星齿轮装置，在保持紧凑外形的同时，允许高减速比。该项目通过完成三个具体目标来实现其目标：A)全面分析、表征和实验测试现有GBD的初步概念验证原型；B)开发并充分表征采用面向制造方法的设计优化的GBD实验先进原型；C)将一系列弹性和扭矩传感元件与GBD集成以促进GBD动力系统中的人机交互。在该项目中，东北大学将与初创公司Foodinie合作研究GBD的商业化。Foodinie位于纽约市，旨在开发新型机器人系统并将其商业化，以帮助居家的老年人。Food-inie有兴趣开发一种由GBD和GBD ACTU关节模块驱动的新型机器人系统，可以作为独立组件出售给其他制造商。PI和东北大学最近因这项发明获得了美国专利8,016,893(2011年9月13日)。拟议项目的智力优势是设计、先进的原型和雷霆测试一种创新的紧凑、先进的执行器组件，可以立即在康复、医学、航空航天和其他重要市场找到商业应用。GBD将显著提高机器人关节的扭矩密度和机械效率，并增强康复机器人和可穿戴外骨骼等生物力学应用的机器人系统的便携性和有效性。目前机器人设备的市场规模为120亿美元，预计未来5年将扩大到250亿美元。这一市场包括成熟的制造业、国防和航空航天行业，以及假肢、仿生学和康复机器人领域的新兴医疗/健康市场。GBD有可能在不同程度上渗透到所有这些市场。这个项目的具体教育、更广泛的影响和推广活动是：1)启动本科生(包括来自不被充分代表的群体的学生)的机器人研究；2)与马萨诸塞州的科技高中建立高级执行器和机器人的合作项目，目的是吸引该领域的新生；3)组织一个学期的孵化器(学生)项目，针对拟议的GBD技术进行市场分析和商业规划；4)在机器人系统的先进执行器领域建立一个系列研讨会和一个网页；以及5)在工业领域进行研究生和本科生实习。

This PFI: AIR Technology Translation project focuses on translating advanced, compact ac-tuator technology, called Gear Bearing Drive (GBD) Technologies to fill a technology gap in the robotics and motion control industry that requires a new generation of actuators able to exhibit a number of desirable characteristics ranging from high power density and high efficiency, high positioning resolution, high torque capacity and torsional stiffness, lightweight designs and low-cost packages. The Gear Bearing Drive or GBD is a compact mechanism with two key abilities. It operates as an actuator providing torque and as a joint providing support. This is possible be-cause of the novel combination of external rotor (outrunner type) DC motor technology and Gear Bearing technology. The GBD is a bearingless powered joint with large power density. It utilizes a unique two stage planetary gear arrangement that allows a high reduction ratio while maintain-ing a compact form factor. The project accomplishes its goals by completing three specific ob-jectives: A) To fully analyze, characterize and experimentally test existing preliminary proof of concept prototypes of GBD; B) To develop and fully characterize experimentally advanced pro-totypes of GBD optimized using design for manufacturing approaches; C) To integrate a series elastic and torque sensing element with the GBD to facilitate human-machine interaction in GBD powered systems.In this project Northeastern University will be partnering with the start-up company Foodinie to investigate commercialization of the GBD. Foodinie, located in New York City, aims at de-veloping and commercializing novel robotic systems for assistance of the elderly at home. Food-inie is interested in developing both a novel robotic system actuated by the GBD and GBD actu-ated joint modules that could be sold as standalone components to other manufacturers. The PI and Northeastern University have recently been issued US patent 8,016,893 (Sep. 13, 2011) for this invention.The intellectual merit of the proposed project is the design, advanced prototyping and thor-ough testing of an innovative compact, advanced actuator assembly that could find immediate commercial application in important markets such as rehabilitation, medicine, aerospace and others. The GBD will considerably improve the torque density and mechanical efficiency of ac-tuated robotic joints, and enhance the portability and effectiveness of robotic systems engaged in biomechanical applications such as rehabilitation robots and wearable exoskeletons. The current market size for robotic devices is 12 billion dollar with an expected expansion to 25 billion over the next 5 years. This market includes established manufacturing, defense and aerospace industries and emerging medical/health markets in prosthetics, bionics, and rehabilita-tion robotics. The GBD has potential to permeate all of these markets to varying degrees. These market opportunities seem large and with the validation attained from this investigation, we ex-pect to be able to attract and secure venture capital support for commercialization of the GBD.The specific educational, broader impact and outreach activities of this project are: 1) The in-itiation of undergraduate students (including students from under-represented groups) in research in robotics; 2) The establishment of collaborative projects in advanced actuators and robotics with the science and technology high schools of Massachusetts with the objective to attract new students in this field; 3) The organization of a one semester I-cubator (student) project on market analysis and business planning for the proposed GBD technologies; 4) The establishment of a seminar series and of a webpage in the area of advanced actuators for robotic systems; and 5) The performance of graduate and undergraduate student internships in industry.