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.


    Access

    Download


    Export, share and cite



    Title :

    Introduction of a redundant actuator using planetary gear trains for human centred robotics


    Contributors:


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Automatic analysis of the redundant gears in planetary gear trains

    Hsu,C.H. / Lin,Y.L. / National Sun Yat-Sen Univ.,Dep.of Mech.Engng.,CN | Automotive engineering | 1994



    Dynamics of planetary gear trains

    August, Richard | TIBKAT | 1983


    Gear Trains and Planetary Gears

    Vullo, Vincenzo | Springer Verlag | 2020


    Displacement isomorphism of planetary gear trains

    Hsu, Cheng-Ho | Online Contents | 1994