3K-H-Vトポロジーに基づく新型ロボット駆動機構の試作設計と効率解析
Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology
インボリュート歯車とサイクロイド歯車を組み合わせた3K-H-Vトポロジーの遊星サイクロイド駆動を設計し、中空構造・コンパクトサイズ・高トルク密度を実験で確認した。
著者: Le Qi, Dapeng Yang, Baoshi Cao, Zhiqi Li, Yikun Gu, Zongwu Xie, Hong Liu
分類: cs.RO
原文アブストラクト
Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 kg/Nm).
