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Scaling laws for robotic transmissions

Tijdschriftbijdrage - Tijdschriftartikel

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.
Tijdschrift: Mechanism & Machine Theory
ISSN: 0094-114X
Issue: October 2019
Volume: 140
Pagina's: 601-621
Aantal pagina's: 21
Jaar van publicatie:2019
Trefwoorden:Ball screw, Cycloid drive, Harmonic drive, Planetary gearbox, Scaling laws, Algemene en klassieke ingenieurswetenschappen