Abstract
Robotic engineers face today major challenges to solve the complex actuation needs of Human-Robot Collaboration using existing compact robotic gearboxes. Available technologies comprise high-ratio Planetary Gearheads, Cycloid Drives and Harmonic Drives, inherited from conventional industrial robotics. Alternative approaches include Direct-Drive and Quasi Direct-Drive actuation strategies, which propose to cancel or substantially reduce gear ratio, in order to minimize reflected inertia and attain the backdrivability required for collaborative tasks.
This paper presents the proof-of-concept validation of a novel high-ratio, Wolfrom-based, gearbox technology that follows a different approach to attain the same objective. Testing five different gearbox prototypes, we confirm the ability of the R2poweR technology to improve efficiency and backdrivability while retaining the weight and control advantages derived from the use of high reduction ratios. The result is a highly efficient, backdrivable, high-ratio gearbox with an exciting potential in Human-Robot Collaboration.
This paper presents the proof-of-concept validation of a novel high-ratio, Wolfrom-based, gearbox technology that follows a different approach to attain the same objective. Testing five different gearbox prototypes, we confirm the ability of the R2poweR technology to improve efficiency and backdrivability while retaining the weight and control advantages derived from the use of high reduction ratios. The result is a highly efficient, backdrivable, high-ratio gearbox with an exciting potential in Human-Robot Collaboration.
| Original language | English |
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| Title of host publication | 2022 IEEE International Conference on Robotics and Automation, ICRA 2022 |
| Publisher | IEEE |
| Pages | 2846-2852 |
| Number of pages | 7 |
| Volume | 2022 |
| Edition | 2022 |
| ISBN (Electronic) | 978-1-7281-9681-7 |
| ISBN (Print) | 978-1-7281-9682-4 |
| DOIs | |
| Publication status | Published - 12 Jul 2022 |
| Event | 2022 IEEE international conference on robotics and automation - Philadelphia, Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 https://icra2022.org/ |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
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| ISSN (Print) | 1050-4729 |
Conference
| Conference | 2022 IEEE international conference on robotics and automation |
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| Country/Territory | United States |
| City | Philadelphia |
| Period | 23/05/22 → 27/05/22 |
| Internet address |
Bibliographical note
Funding Information:All authors are with the Robotics & Multibody Mechanics group of the Vrije Universiteit Brussel. Brussels, 1050 Belgium. Bram Vanderborght is affiliated with IMEC (Leuven, 3001 Belgium), all other authors are affiliated with Flanders Make (Leuven, 3001 Belgium). Corresponding Author: Pablo Lopez Garcia +32 499741816; [email protected] ? Research supported by the INNOVIRIS Foundation of the city of Brussels, Grant Nr. 2020-POC-03.
Funding Information:
Stein Crispel, Elias Saerens and Tom Verstraten are all funded by the Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow.
Publisher Copyright:
© 2022 IEEE.
Copyright:
Copyright 2022 Elsevier B.V., All rights reserved.
Keywords
- Robotics
- Gearboxes
- Backdrivability