成果報告書詳細
管理番号20160000000580
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 革新的ロボット要素技術分野 高効率・高減速ギヤを備えた高出力アクチュエータの研究開発
公開日2016/7/27
報告書年度2015 - 2015
委託先名国立大学法人横浜国立大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約High-efficiency, High-power-density, and High-reduction-ratio Actuators

Robots have been developed for various purposes such as material handling, welding, assembly, surgery, rehabilitation, and disaster response. Robots for these purposes often need high power but small actuators. There are many choices for the actuators, for example, direct drive motors, pneumatic actuators, and hydraulic actuators. Most of the actuators for those robots are composed of motors and reduction gears. Harmonic gears have been widely used in robotic joints that require high power in limited space. Although harmonic gears are compact and they realize high reduction ratio, it is necessary to execute a two-step reduction; reduction by gears is applied after reducing output of motors due to a belt and pulleys because the input allowable angular velocity of the harmonic gears is low. This causes enlargement of device, increase in loss due to the two-step reduction, and narrowing the control band width by using the belt and pulleys. Then, the authors have been developing a high-reduction-ratio planetary gear. The mechanism has the following features.
-Small number of components
-Compact volume and high reduction ratio
-Input allowable rotation speed can be high because it uses only simple gears.
-It is easy to realize a desired reduction ratio because the number of combinations of gears that satisfy the configuration conditions is large.
In the fiscal year of 2015, we have achieved following items:
1.Design methodology using two sets of internal gear and spur gears has been developed. This design also reduces centrifugal force acting on the spur gears.
2.A software that comes up with combinations of gears for a given desired reduction ratio has been developed.
3.An algorithm to find the optimal profile-shifts of each gears that maximizes total energy efficiency has been developed.
4.The above items (1~3) are applied to develop actual models of 1/46 and 1/97.
5.A test bench has been designed and its components have been provided.
6.A high-speed and high-power motor has been designed and analyzed by using Finite Element Analysis. The maximum speed and torque are estimated as 15,000rpm and 2.8N.m.
7.A basic design of a high-power motor driver with 100A rated current has been conducted and numerically tested via simulations. Sensor-less control of the motor is also investigated.
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