Abstract
The low backlash planetary gearbox as a substitute for a harmonic drive in humanoid robotics, is presented in this paper. After analysis of the contemporary designs of the low backlash coaxial toothed gearboxes, a concept of planetary gearbox with taper gears has been chosen. A synthesis of a planetary mechanism which satisfies the prescribed kinematic-dynamic requirements as well as the design limitations has been performed. Based on the obtained results, parameters necessary for the gearbox design have been defined. The proposed solution has been analysed from various points of view. Analysis results show that the proposed solution has low backlash (<4 arcmin), high coefficient of efficiency (about 97%), four times higher load capacity and five times lower price in comparison with the currently available corresponding harmonic drives. Overall dimensions are nearly the same, while the mass of the planetary gearbox is 10% larger than mass of the corresponding harmonic drive.
Highlights
Mechanical gearboxes used in humanoid robotics have to satisfy a lot of requirements: functionality and reliability, high positioning accuracy and repeatability, high efficiency, compact design, low mass and moments of inertia, low vibrations, low noise etc
The development of a low backlash planetary gearbox for humanoid robots as a substitute for the harmonic drive is presented in this paper
A significant advantage of the harmonic drive is the low backlash which is very important for positioning and repeatability of the move
Summary
Back of the harmonic drives is their significantly high price which, in many cases, limits their application. The development of a low backlash planetary gearbox for humanoid robots as a substitute for the harmonic drive is presented in this paper. The research is conducted as part of a national project whose goal is to design a mobile humanoid robot "MARKO" as an assisting apparatus for the rehabilitation of children with cerebral palsy [1]. Conceptual design of this robot is shown on Fig. 1. The design solution is adapted to incorporate previously mentioned drive units [2]
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