Increasing Performance Undergraduate Category: Engineering
Undergraduate Category: Engineering and Technology Degree Level: Bachelors Abstract ID# 1315
John Thomas Hinchen, Undergraduate, Elias Brassitos, Graduate Professor Nader Jalili
Compact Differential Transmission for High Torque Applications in Robotics Abstract: Optimizing Robotics
Figure 2: Rendered Differential Transmission With Stepper Motor
Results: How It Stacks Up The system was compared with established systems of similar sizes. Figure 4 shows comparisons between this system and the Harmonic Drive Component Set, and a standard planetary gearbox. Using nonstandard pitches on the gears in the system allowed the model to generate very high gear ratios, at the cost of the torque rating. However, the torque rating on the differential system, can be multiplied by increasing the face width of the gears used or number of planetary gears.
Many engineering applications, such as robotics, require high torque and high precision actuators. This research is aimed at developing a compact transmission that utilizes a substantially smaller number of parts than any commercial gear system. This is accomplished by a unique patent-pending differential mechanism that uses gears or friction wheels.
Background: Smaller is Better Traditional devices for amplifying the motor torque generally require numerous gears be used in order to achieve high ratios. This can be seen in Figure 1, a gearbox that uses several stages to achieve a 1:400 gear ratio. This often leads to complex assemblies that are impractical Method: Determining Parameters for small robots. Applications that could benefit from this invention Using principles of kinematics, the gear ratio, or more explicitly, the are robots and humanoid systems, manufacturing systems such as ratio of the angular velocity of the output shaft to that of the input semiconductor and optical systems, packaging machines, metal shaft, was determined, and was simplified to Equation 1. The working machines and medical systems. maximum torque which could be applied at the input was derived Figure 1: Standard Planetary Gearbox from the standard equation for bending stress on the teeth of a gear.
Figure 4: Comparisons to Other Reducers System Differential Transmission High Torque Component Set Planetary Gearbox
Standard Gear Sizes Custom Gear Sizes Harmonic CSG-40Drive 100-2A-GR GBPHAnaheim 1203-NPAutomation 100
Width Max Gear Rated Torque (mm) Ratio (Nm) 127 1:105 102 111 1:6084 58 106
1:100
345
114
1:343
285
Conclusion: Increasing Performance Equation 1: Gear Ratio From Number of Teeth 𝑁2 ∗ 𝑁4 𝑅= 𝑁2 ∗ 𝑁4 − 𝑁1 ∗ 𝑁3 N refers to the number of teeth on a given gear
Aim: A Compact Solution This project was undertaken to design a cheaper and more compact drive system that is comparable in strength and precision to commercially available systems.
Figure 3: Component Diagram
This differential system proved that with some customization, very high gear and torque transmission ratios could be achieved. While the maximum output torque that could be transmitted is low in the two planet, half inch face width model, it can be increased by increasing the face width and adding multiple planets. Its major advantages are limited number of parts, light weight, and low cost.
Figure 5: Robotic Integration
Since the gear ratio of the device is derived from the differential in sizes between the stages of the system, very high ratios, up to 1:10000, can be generated using only two stages. References https://www.servocity.com/html/planetary_gearbox.html#.VuMVOpwrKM9 http://www.harmonicdrive.net/products/component-sets
This transmission system is intended to be integrated into the joint of a robotic arm
John Thomas Hinchen, Undergraduate, Elias Brassitos, Graduate Professor Nader Jalili
Compact Differential Transmission for High Torque Applications in Robotics Abstract: Optimizing Robotics
Figure 2: Rendered Differential Transmission With Stepper Motor
Results: How It Stacks Up The system was compared with established systems of similar sizes. Figure 4 shows comparisons between this system and the Harmonic Drive Component Set, and a standard planetary gearbox. Using nonstandard pitches on the gears in the system allowed the model to generate very high gear ratios, at the cost of the torque rating. However, the torque rating on the differential system, can be multiplied by increasing the face width of the gears used or number of planetary gears.
Many engineering applications, such as robotics, require high torque and high precision actuators. This research is aimed at developing a compact transmission that utilizes a substantially smaller number of parts than any commercial gear system. This is accomplished by a unique patent-pending differential mechanism that uses gears or friction wheels.
Background: Smaller is Better Traditional devices for amplifying the motor torque generally require numerous gears be used in order to achieve high ratios. This can be seen in Figure 1, a gearbox that uses several stages to achieve a 1:400 gear ratio. This often leads to complex assemblies that are impractical Method: Determining Parameters for small robots. Applications that could benefit from this invention Using principles of kinematics, the gear ratio, or more explicitly, the are robots and humanoid systems, manufacturing systems such as ratio of the angular velocity of the output shaft to that of the input semiconductor and optical systems, packaging machines, metal shaft, was determined, and was simplified to Equation 1. The working machines and medical systems. maximum torque which could be applied at the input was derived Figure 1: Standard Planetary Gearbox from the standard equation for bending stress on the teeth of a gear.
Figure 4: Comparisons to Other Reducers System Differential Transmission High Torque Component Set Planetary Gearbox
Standard Gear Sizes Custom Gear Sizes Harmonic CSG-40Drive 100-2A-GR GBPHAnaheim 1203-NPAutomation 100
Width Max Gear Rated Torque (mm) Ratio (Nm) 127 1:105 102 111 1:6084 58 106
1:100
345
114
1:343
285
Conclusion: Increasing Performance Equation 1: Gear Ratio From Number of Teeth 𝑁2 ∗ 𝑁4 𝑅= 𝑁2 ∗ 𝑁4 − 𝑁1 ∗ 𝑁3 N refers to the number of teeth on a given gear
Aim: A Compact Solution This project was undertaken to design a cheaper and more compact drive system that is comparable in strength and precision to commercially available systems.
Figure 3: Component Diagram
This differential system proved that with some customization, very high gear and torque transmission ratios could be achieved. While the maximum output torque that could be transmitted is low in the two planet, half inch face width model, it can be increased by increasing the face width and adding multiple planets. Its major advantages are limited number of parts, light weight, and low cost.
Figure 5: Robotic Integration
Since the gear ratio of the device is derived from the differential in sizes between the stages of the system, very high ratios, up to 1:10000, can be generated using only two stages. References https://www.servocity.com/html/planetary_gearbox.html#.VuMVOpwrKM9 http://www.harmonicdrive.net/products/component-sets
This transmission system is intended to be integrated into the joint of a robotic arm
