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Studies on Performance of Gear Drives with High Reduction Ratio for Robot

Research Project

Project/Area Number 09650167
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 設計工学・機械要素・トライボロジー
Research InstitutionKumamoto Institute of Technology

Principal Investigator

SONODA Keiji  Kumamoto Institute of Technology, Depatment of Mechanical Engineering, Associate Professor, 工学部, 助教授 (50163142)

Project Period (FY) 1997 – 1998
Project Status Completed (Fiscal Year 1998)
Budget Amount *help
¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1998: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1997: ¥1,500,000 (Direct Cost: ¥1,500,000)
KeywordsMachine elements / Gear / Gear drive / Planetary gear / Power transmission / Efficiency / Friction coefficient / High reduction ratio / 歯車減速機 / 遊星歯車機構 / 運転性能 / 動力伝達効率 / 高効率 / 高減速 / 偏芯歯車 / ロボット
Research Abstract

Gear drives have been widely used because of their high power transmission efficiency and the compactness of the gearbox. Planetary gear drives have been used in the case where a greater power must be transmitted in a smaller space and/or higher speed ratios are required.
Special planetary gear drives such as the harmonic drive, the paradox planetary gear drive and the cycloid drive have been used for driving the arm of robots which is used for producing machine parts, etc. Some problems must be solved in order to obtain a higher production rate and higher accuracy in the arm motion. One of the effective mean to solve the problems is to eliminate the pin-hole coupling which has been used in the differential planetary gear drives with a crank shaft. The present investigator introduced a new planetary gear drive with a high reduction ratio without using the pin-hole coupling. In order stimulate the practical utilization of the new gear drive, an investigation was conducted and the following results were obtained.
(1)Test rollers with very different surface finish (peak-to-valley roughness ; RyO.03-3mum) were made by grinding and buffing, and the effects of surface roughness and the kind of lubricating oils on the surface failure and the friction coefficient were investigated to find a ubricating oil suitable to the new gear drive.
(2)The new planetary gear drive with a reduction ratio of 392.3 was designed and made in the machine shop of Kumamoto Institute of Technology. Running tests of the new gear drive were conducted using two kinds of test stands.
(3)The maximum efficiency of the gear drive was about 75 % for speed reduction and 73 % for speed increase. These values may be higher than those obtained from conventional differential gear drives with a high reduction ratio of about 400.

Report

(3 results)
  • 1998 Annual Research Report   Final Research Report Summary
  • 1997 Annual Research Report
  • Research Products

    (30 results)

All Other

All Publications (30 results)

  • [Publications] 石橋 彰: "2自由度系遊星歯車機構の理論効率の計算式に関する研究" 日本機械学会論文集(C編). 63巻・611号. 330-337 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 園田 計二: "差動ハイブリッド形変速機と差動歯車変速機の動力伝達効率と運転騒音の比較" 日本機械学会 創立100周年記念講演会, 機素潤滑設計部門(IMPT-100)講演論文集. No.97-1463. 248-253 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 石橋 彰: "Effects of Kind of Lubricants and Shape of Tooth Profiles upon Efficiency of Gear Drives" Proceedings of the First World Tribolgy Congress. 880-880 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 園田 計二: "Comparison of Static and Running Efficiencies of Planetary Gear Drives" Procedings of the First World Tribolgy Congress. 895-895 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 陳 勇: "自動車の自動変速機用複列遊星歯車機構の動力伝達効率" 日本機械学会 第76期全国大会講演会, 講演論文集. No.98-3. 91-92 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] M.A.Haidar: "Minimization of Effect of CBN Wheel Wear on Ground Gear Errors" International Journal of Machine Tools & Manufacture. Vol.39, No.4. 607-626 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 園田 計二: "A New Planetary Gear Drive with Three Crank Shafts for Eliminating Pin-Hole Coupling" Proceedings of the 4th World Congress on Gearing and Power Transmission. Vol.2. 1135-1140 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 石橋 彰: "Effects of Kinds of Bearings and Lubricants upon Power Transmission Efficiency of Planetary Gear Drives" Proceedings of the 4th World Congress on Gearing and Power Transmission. Vol.2. 973-984 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 前之園 好爾: "Effect of Plasma Nitriding upon Impact Fatigue Strength of Gears Made of Ductile Iron" Proceedings of the 4th World Congress on Gearing and Power Transmission. Vol.2. 1525-1536 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 石橋 彰: "Effects of Kind of Lubricants and Shape of Tooth Profiles upon Efficiency of Gear Drives" Journal of Lubrication Science. 印刷中. (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Akira ISHIBASHI, ALI M.Haidar and Keiji SONODA: "Theoretical Efficiency of Planetary Gear Drives with Two Degrees-of-Freedom" Transaction of the JSME. Vol.63, No.611. 330-337 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Keiji SONODA,Akira ISHIBASHI and Syouichi ISAMI: "Comparison of Efficiencies and Running Noise of Differential Gear Drive and Hybrid Drive" JSME Centennial Grand Congress, Intelligent Motion-control, Power-transmission and Tribology. No.97-14. 248-253 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Keiji SONODA,Akira ISHIBASHI and Syouichi ISAMI: "Comparison of Static and Running Efficiencies of Planetary Gear Drives" Proc.of First World Tribolgy Congress. 895 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Akira ISHIBASHI, Keiji SONODA and ALI M.Haidar: "Effects of Kind of Lubricants and Shape of Tooth Profiles upon Efficiency of Gear Drives" Proc.of First World Tribolgy Congress. 880 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Yong CHEN, Akira ISHIBASHI, Keiji SONODA and Yasuo SUMI: "Power Transmission Efficiency of Planetary Gear Drives with Two Internal Gears for Automatic Transmission for Automobililes" The 76th JSME Fall Annual Meeting. Vol.V, No.98-3. 91-92 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] ALI Haidar, Akira ISHIBASHI, Keiji SONODA and S.EZOE: "Minimization of Effect of CBN Wheel Wear on Ground Gear Errors" International Journal of Machine Tools & Manufacture. Vol.39, No.4. 607-626 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Keiji SONODA, Akira ISHIBASHI and Koji MAENOSONO: "A New Planetary Gear Drive with Three Crank Shafts for Eliminating Pin-Hole Coupling" Proc.of the 4th World Congress on Gearing and Power Transmission. Vol.2. 1135-1140 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Akira ISHIBASHI, Keiji SONODA and Koji MAENOSONO: "Effects of Kinds of Bearings and Lubricants upon Power Transmission Efficiency of Planetary Gear Drives" Proc.of the 4th World Congress on Gearing and Power Transmission. Vol.2. 973-984 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Koji MAENOSONO, Akira ISHIBASHI and Keiji SONODA: "Effects of Plasma Nitriding upon Impact Fatigue Strength of Gears Made of Ductile Iron" Proc.of the 4th World Congress on Gearing and Power Transmission. Vol.2. 1525-1536 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Akira ISHIBASHI, Keiji SONODA and ALI M.Haidar: "Effects of Kind of Lubricants and Shape of Tooth Profiles upon Efficiency" International Journal of Lubrication Science. (in press). (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 陳 勇: "自動車の児童変速機用複列遊星歯車機構の動力伝達効率" 日本機械学会 第76期全国大会講演会,講演論文集. No.98-3. 91-92 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] M.A.Haidar: "Minimization of Effect of CBN Wheel Wear on Ground Gear Errors" International Journal of Machine Tools Manufacture. Vo1.39,No.4. 607-626 (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 園田 計二: "A New Planetary Gear Drive with Three Crank Shafts for Eliminating Pin-Hole Coupling" Proceedings of the 4th World Congress on Gearing and Power Transmission. 印刷中. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 石橋 彰: "Effects of Kind of Bearings and Lubricants upon Power Transmission Efficiency of Planetary Gear Drives" Proceedings of the 4th World Congress on Gearing and Power Transmission. 印刷中. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 前之園 好爾: "Effect of Plasma Nitriding upon Impact Fatigue Strength of Gears Made of Ductile Iron" Proceedings of the 4th World Congress on Gearing and Power Transmission. 印刷中. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 石橋 彰: "Effects of Kind of Lubricants and Shape of Tooth Profiles upon Efficiency of Gear Drives" Journal of Lubrication Science. 印刷中. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 石橋 彰: "2自由度系遊星歯車機構の理論効率の計算式に関する研究" 日本機械学会論文集(C編). 63巻・611号. 330-337 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 園田計二: "作働ハイブリッド形変速機と差動歯車変速機の動力伝達効率と運転騒音の比較" 日本機械学会創立100周年記念講演会,機素潤滑設計部門(IMPT-100)講演論文集. No.97-1463. 248-253 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 石橋 彰: "Effects of Kind of Lubricants and Shape of Tooth Profiles upon Efficiency of Gear Drives" Proceedings of the First World Tribolgy Congress. 880-880 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 園田計二: "Comparison of Static and Running Efficiencies of Planetary Gear Drives" Proceedings of the First World Tribolgy Congress. 895-895 (1997)

    • Related Report
      1997 Annual Research Report

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Published: 1997-04-01   Modified: 2016-04-21  

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