用于机器人应用的带 EC 传动装置的高传动比行星齿轮箱

Stefan Landler, Michael Otto, Birgit Vogel-Heuser, Markus Zimmermann, Karsten Stahl
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引用次数: 0

摘要

机器人和类机器人系统(RLS)的驱动系统通常采用电动马达和高传动比变速箱的组合设计,以优化性能。各种类型的机器人变速箱可根据其特性进行选择,这些特性对整个机器人系统的性能有很大影响。行星齿轮传动装置具有效率高、设计复杂度低的优点。缺点是每级传动比低,因此目前占主导地位的渐开线齿轮传动需要很大的设计空间。使用特殊齿形,如偏心摆线(EC)齿轮传动,可以实现较高的每级传动比,从而减少所需的设计空间。为了对设计进行评估,有必要对 EC 齿轮箱的几何形状和特性进行描述。应用优化设计可以在跨学科的基础上使用合适的描述语言,用于完整机器人系统的产品开发。本文展示了一种应用于机器人技术的高传动比行星齿轮箱的设计和分析。行星齿轮级采用 EC 传动装置,与渐开线传动装置相比具有优势。根据各种特性对所选传动装置的性能进行了评估。这样就能找出与机器人和 RLS 既有传动类型相比的优势。总之,本文介绍了一种新型机器人变速箱,对其进行了全面的描述和分析,可直接用于模拟或使用增材制造进行生产。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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High-ratio planetary gearbox with EC gearing for robot applications

The drive system of robots and robot-like systems (RLS) is often designed with a combination of an e-motor and a gearbox with a high transmission ratio to optimize performance. The various types of possible robot gearboxes can be selected based on their characteristics, which strongly influence the performance of the entire robotic system. Planetary gear drives have advantages due to their high efficiency and low design complexity. Disadvantageous is the low transmission ratio per stage and the resulting large design space required with the currently predominant involute gearing. Using special tooth profile shapes, such as the eccentric cycloid (EC) gearing, enables a high transmission ratio per stage to be achieved, thus reducing the design space required. In order to evaluate the design, a description of the geometry and characteristics of the EC gearing is necessary. The application-optimized design can be made accessible on an interdisciplinary basis using a suitable description language for the product development of the complete robotic system. The paper shows the design and analysis of a planetary gearbox with a high transmission ratio for applications in robotics. The planetary gear stage is designed with the EC gearing, which offers advantages compared to the involute gearing. The performance of the selected gearing is evaluated based on various characteristics. This allows advantages to be identified compared to the established types of transmission for robots and RLS. Overall, the paper presents a new robot gearbox with a comprehensive description and analysis directly accessible for simulation or production using additive manufacturing.

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来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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