Optimal design of gear ratio using non-circular gear for jumping robot

For the effective use of motor power, an appropriate gear ratio has to be selected according to robot tasks and motions. Because a jumping robot, in particular, requires both high torque and high velocity properties through its motion, a varying gear ratio will realize a high performance. Moreover,...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Masafumi OKADA, Yushi TAKEDA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	varying gear ratio non-circular gear jumping robot Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/193dc1570c954f91a846be876a6a2101
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:193dc1570c954f91a846be876a6a2101
record_format	dspace
spelling	oai:doaj.org-article:193dc1570c954f91a846be876a6a21012021-11-26T06:35:12ZOptimal design of gear ratio using non-circular gear for jumping robot2187-974510.1299/mej.14-00511https://doaj.org/article/193dc1570c954f91a846be876a6a21012015-12-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/3/1/3_14-00511/_pdf/-char/enhttps://doaj.org/toc/2187-9745For the effective use of motor power, an appropriate gear ratio has to be selected according to robot tasks and motions. Because a jumping robot, in particular, requires both high torque and high velocity properties through its motion, a varying gear ratio will realize a high performance. Moreover, its varying property has to be optimally designed and realized. In this paper, we design a jumping robot with a non-circular gear which changes the gear ratio through the motion for the higher jumping. The gear ratio is optimized so that the motor power is maximized, and the change of the gear ratio is obtained based on a forward dynamical analysis. The optimized gear ratio is realized by a non-circular gear considering a constraint of pressure angle of gear teeth. A Jumping robot is protoptyped, and the effectiveness of the proposed design method is verified considering model perturbations of the physical parameters of the robot.Masafumi OKADAYushi TAKEDAThe Japan Society of Mechanical Engineersarticlevarying gear rationon-circular gearjumping robotMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 3, Iss 1, Pp 14-00511-14-00511 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	varying gear ratio non-circular gear jumping robot Mechanical engineering and machinery TJ1-1570
spellingShingle	varying gear ratio non-circular gear jumping robot Mechanical engineering and machinery TJ1-1570 Masafumi OKADA Yushi TAKEDA Optimal design of gear ratio using non-circular gear for jumping robot
description	For the effective use of motor power, an appropriate gear ratio has to be selected according to robot tasks and motions. Because a jumping robot, in particular, requires both high torque and high velocity properties through its motion, a varying gear ratio will realize a high performance. Moreover, its varying property has to be optimally designed and realized. In this paper, we design a jumping robot with a non-circular gear which changes the gear ratio through the motion for the higher jumping. The gear ratio is optimized so that the motor power is maximized, and the change of the gear ratio is obtained based on a forward dynamical analysis. The optimized gear ratio is realized by a non-circular gear considering a constraint of pressure angle of gear teeth. A Jumping robot is protoptyped, and the effectiveness of the proposed design method is verified considering model perturbations of the physical parameters of the robot.
format	article
author	Masafumi OKADA Yushi TAKEDA
author_facet	Masafumi OKADA Yushi TAKEDA
author_sort	Masafumi OKADA
title	Optimal design of gear ratio using non-circular gear for jumping robot
title_short	Optimal design of gear ratio using non-circular gear for jumping robot
title_full	Optimal design of gear ratio using non-circular gear for jumping robot
title_fullStr	Optimal design of gear ratio using non-circular gear for jumping robot
title_full_unstemmed	Optimal design of gear ratio using non-circular gear for jumping robot
title_sort	optimal design of gear ratio using non-circular gear for jumping robot
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/193dc1570c954f91a846be876a6a2101
work_keys_str_mv	AT masafumiokada optimaldesignofgearratiousingnoncirculargearforjumpingrobot AT yushitakeda optimaldesignofgearratiousingnoncirculargearforjumpingrobot
_version_	1718409764226990080

Optimal design of gear ratio using non-circular gear for jumping robot

Ejemplares similares