Introduction of a redundant actuator using planetary gear trains for human centred robotics
| Autor: | Stein Crispel, Elias Saerens, Dirk Lefeber, Pablo López-García, Tom Verstraten |
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| Přispěvatelé: | Applied Mechanics, Faculty of Engineering, Robotics & Multibody Mechanics Research Group |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Robotics Control engineering 02 engineering and technology 021001 nanoscience & nanotechnology Engineering (General). Civil engineering (General) Gear train 020901 industrial engineering & automation Artificial intelligence TA1-2040 0210 nano-technology Actuator business |
| Zdroj: | MATEC Web of Conferences, Vol 317, p 01003 (2020) |
| Popis: | Matching motor efficiency and performance with the load demands can significantly improve the overall efficiency of a driveline. Inspired by the automotive sector -with the high interest of hybrid and electric cars currently-, the authors have studied how state of the art technologies can be used in the relatively new field of collaborative and Human centred robotics. Multiple transmission systems have been considered, among others redundant actuators (both static and kinematic) and continuously variable transmissions. Based on these findings and the experience of the research group on customised planetary gear trains for Human Limb Assistance and Replication, an extensive review of existing redundant actuators is presented in combination with an alternative transmission system which does not need any auxiliary gear transmissions and hence can be lighter and more compact than state of the art drivelines for Human centred robotics. A calculation was performed -including the efficiency model presented by Müller- which shows the high potential of this type of dual-motor actuator. |
| Databáze: | OpenAIRE |
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