Abstract

In a design of a small robot, selecting a servo-motor is the most important method in designing process. Common miniature servo motors for small robots normally use conventional gear train set or planetary gear set. Gear train and planetary gear give very low gear ratio whereas its weight is too heavy. On the other hand, Harmonic gear system, which is developed from strain wave drive gearing, gives better the highest gear ratio per weight than those two gear systems. In this paper, a plastic flexible spline gear is presented in order to replace a thin metal spline. The plastic flexible spline gear is designed under gear physical requirement and servo-motor properties. The spline thicknesses are varied in a range of 1 to 4 millimetre and simulations on strength, fatigue, and torque requirement are made to verify the designs.

Highlights

  • There are many brands of servo-motors for a small robot, all of them contain with gear train sets

  • Musser introduced a strain wave gear system, which is known as harmonic gear system

  • The harmonic gear set provides high gear ratio and low weight and it is generally used in industrial robot today

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Summary

Introduction

There are many brands of servo-motors for a small robot, all of them contain with gear train sets. Harmonics gear reduces rotation speed by the uneven number of the teeth between the flexible spline and the circular spline. After the wave generation rotor rotates a cycle, the flexible spline will shift couple teeth depending on different number of teeth between flexible and circular spline. The payload that the harmonic gear set is able to support will be 19.8 N.m. the payload that the harmonic gear set is able to support will be 19.8 N.m This tooth shape configuration at 198/200 teeth spline will give the inside diameter of circular spline at 50.53 mm. The thickness of flexible spline will define the stretching force, which lead to the loss of motor’s torque. Researchers define for 4 thicknesses as 1.3 to 4.3 mm. of the flexible spline shell to find out the optimal thickness which gives minimum torque loss and maximum life cycle

Stretching Force And Life Cycle Estimation
Stall Torque
Prototyping
Conclusion
Reference
Full Text
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