Sage Journals: Discover world-class research

Abstract

This study proposes a novel planetary gear mechanism composed of normal spur gears. Similar to a harmonic drive system, one pair of gears generates differential angular motion to achieve a high reduction gear ratio. While a harmonic drive system utilizes slightly different number of gear teeth between the flex spline and the circular spline to induce differential motion, a planetary gear mechanism with different gear modules is adopted for this purpose in the proposed system. Since the manufacture of special components like the wave generator and flex spline in harmonic drive system is not required here, the machinability and usability are improved. In addition, the mechanism can be achieved with a flat shape, which is crucial for various applications such as robotic systems. After the basic concept and three-dimensional design are introduced, the prototype system is presented.

Keywords

Reduction gear planetary gear differential motion

Get full access to this article

View all access options for this article.

References

Gousaillier V, et al. Mechatronic design of NAO humanoid. In: IEEE international conference on robotics and automation, Kobe, Japan, 12–17 May 2009, pp.769–774. Piscataway: IEEE Press.

Park I-W, Kim J-Y, Lee J, et al. Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid Robot 3: HUBO). In: Proceedings of IEEE-RAS international conference on humanoid robots, Tukuba, Japan, 05–07 December 2005, pp.321–326. Piscataway: IEEE Press.

Tonietti G, Schiavi R and Bicchi A. Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction. In: IEEE international conference on robotics and automation, Barcelona, Spain, 18–22 April 2005, pp.526–531. Piscataway: IEEE Press.

Rooks

. The harmonious robot. Ind Robot Int J 2006; 33: 125–130.

Lee

. Development of coaxial wire reduction gear for manipulator robots. Electron Lett 2015; 51: 747–749.

Dhaouadi

Ghorbel

Gandhi

. A new dynamic model of hysteresis in harmonic drives. IEEE Trans Ind Electron 2003; 50: 1165–1171.

Zhang

Ahmad

Liu

. Modeling of torsional compliance and hysteresis behaviors in harmonic drives. IEEE/ASME Trans Mechatron 2015; 20: 178–185.

Kim B-S, Park J-J and Song J-B. Double actuator unit with planetary gear train for a safe manipulator. In: IEEE international conference on robotics and automation, Roma, Italy, 10–14 April 2007, pp.1146–1151. Piscataway: IEEE Press.

Niikura R, Kunugi N and Koganezawa K. Development of artificial finger using the double planetary gear system. IEEE/ASME international conference on advanced intelligent mechatronics, 2011, pp.481–486.

Supplementary Material

Please find the following supplemental material available below.

For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.

For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.

0.00 MB

3.93 MB

7.91 MB