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成果報告書詳細
管理番号20170000000684
タイトル*平成28年度中間年報 次世代人工知能・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2017/8/16
報告書年度2016 - 2016
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

In this study, we propose an actuator for driving the robotic joint composed of a reduction gearbox, a servomotor, and a motor driver, that has advantages in terms of size, power density, efficiency, and backdrivability. Regarding the reduction gearbox, we proposed an optimal design method focusing on the efficiency and succeeded in developing highly efficient compound planetary reduction gearboxes with an allowable input rotation speed as extremely high as 15,000minー1 and a forward driving efficiency exceeding 90%. The efficiency is more than 20% and the allowable input rotation speed is triple as compared with harmonic gearbox with almost the same reduction ratio, torque capacity and weight. In addition, since the backdriving efficiency is 90% or more and the reverse drive start torque is 0.034N.m, the proposed reduction gearbox can be back driven with very small torque. Compared to harmonic gearboxes, the backdriving efficiency of the proposed reduction gearbox is 30% or more and the reverse drive starting torque is 1/300 or less. These performances were impossible with conventional reduction gearboxes.

As for the motor, we developed a servomotor with dramatically improved power density by adopting a high-speed rotation design and an air cooling structure by rotation of the rotor. The size and the weight of the developed motor is 88x71mm and 1.4kg, respectively. The estimated performance of the rated output 2 kW and rated speed 15,000 min-1 is 5 times higher than the servo motor with the same torque capacity. Even at weight ratio power density, it is 4 times performance.
As for the motor driver, we designed and developed a compact and high-power three-level inverter with 43Arms rated current and 50V dc link voltage. In order to achieve high-speed response, 100kHz switching frequency with GaN power MOSFETs (100V, 90A) has been realized. We also proposed a deadtime error-less PWM method for three-level inverters. The size of the prototype is 61.5x66mm. Preliminary experiments to drive a RL circuit have been conducted and we have confirmed the basic operation of the proposed circuit.
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