Scaling laws for robotic transmissions
Scaling laws for robotic transmissions
复制标题
机器人传动装置的缩放定律
DOI：
10.1016/j.mechmachtheory.2019.06.027
复制
发表时间：
2019
影响因子：
5.2
通讯作者：
D. Lefeber
中科院分区：
文献类型：
--
作者：
Elias Saerens;Stein Crispel;Pablo López García;T. Verstraten;Vincent Ducastel;B. Vanderborght;D. Lefeber
在机器人执行器中，通常需要低速和高扭矩。小型电动机在高速和低扭矩时效率更高，但不能直接满足要求。为了将电机特性转变为所需的输出特性，需要传动系统。理想情况下，它应该经过优化设计并适应所需的特性和可用空间。缩放定律可以提供一种将这些所需输出要求设计为尺寸参数的函数的方法。然而，这些尚未可用于传输系统。为了填补这一空白，本文针对一些最重要的机器人特性（即最大连续输出扭矩和反射惯量）制定了几个缩放定律，它们是级数、传动比和不同类型变速器的尺寸参数的函数。这些定律表明，直径对传输特性的影响比长度大得多。所有导出的定律都与 Maxon、Moog、Neugart、Harmonic Drive®、Sumitomo 和 SKF 等制造商的目录数据进行了良好的比较。
In robotic actuators, low speeds and high torques are usually required. Small electric motors, which are more efficient at high speeds and low torques, do not fit the requirements directly. In order to transform the motor characteristics into the desired output characteristics, a transmission system is needed. Ideally, it should be optimally designed and adapted to the desired characteristics and the available space. Scaling laws can provide a way to design these desired output requirements as a function of the size parameters. These are however not yet available for transmission systems. To fill this gap, several scaling laws are developed throughout this paper for some of the most important robotic characteristics, i.e. maximum continuous output torque and reflected inertia, in function of the number of stages, the transmission ratio and the size parameters of different types of transmissions. These laws show that diameter has a much bigger influence on the characteristics of transmissions than length. All derived laws show good comparison with catalog data of manufacturers like Maxon, Moog, Neugart, Harmonic Drive®, Sumitomo and SKF.