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

该PFI：AIR技术翻译项目专注于翻译先进的紧凑型执行器技术，称为齿轮轴承驱动（GBD）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表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是一种紧凑的机制，具有两个关键能力。它作为提供扭矩的致动器和提供支撑的关节工作。这是可能的，因为外转子（外转式）直流电机技术和齿轮轴承技术的新颖组合。GBD是一种具有大功率密度的无轴承动力关节。它采用了独特的两级行星齿轮装置，可在保持紧凑外形的同时实现高减速比。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的GBD概念原型的初步证明; B）开发和全面表征使用制造设计方法优化的GBD先进原型; C）将一系列弹性和扭矩传感元件与GBD集成，以方便人类-GBD动力系统中的机器交互。在这个项目中，东北大学将与初创公司Foodinie合作，研究GBD的商业化。位于纽约市的Foodinie旨在将新型机器人系统用于帮助家中的老年人。Food-inie有兴趣开发一种由GBD驱动的新型机器人系统和GBD驱动的关节模块，这些模块可以作为独立组件出售给其他制造商。PI和东北大学最近已经为这项发明颁发了美国专利8，016，893（2011年9月13日）。所提出的项目的智力价值是创新的紧凑型先进致动器组件的设计、先进的原型设计和彻底的测试，该致动器组件可以在诸如康复、医学、航空航天等重要市场中立即获得商业应用。GBD将大大提高驱动机器人关节的扭矩密度和机械效率，并增强参与生物力学应用的机器人系统（如康复机器人和可穿戴外骨骼）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，预计在未来5年内将扩大到250亿美元。该市场包括成熟的制造业、国防和航空航天工业以及假肢、仿生学和康复机器人等新兴医疗/健康市场。GBD有可能在不同程度上渗透所有这些市场。这些市场机会看起来很大，并且通过本次调查获得的验证，我们期望能够吸引和确保风险资本支持GBD的商业化。该项目的具体教育，更广泛的影响和推广活动是：1）启动本科生（包括来自代表性不足群体的学生）在机器人研究;（二）与马萨诸塞州的科学技术高中建立先进执行器和机器人技术的合作项目，目的是吸引新的学生，这个领域; 3）组织一个为期一学期的I-cubator（学生）项目，对拟议的GBD技术进行市场分析和业务规划; 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; 5）研究生和本科生在工业中实习的表现。

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.