Planetary Gear with Backdrive Switching Capability by Vibration: Study of Vibration Elements Suitable for Switching

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K14704
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Fukushima National College of Technology
• Principal Investigator: Noda Satsuya 福島工業高等専門学校, 機械システム工学科, 准教授 (60803278)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: 遊星歯車 / 振動 / バックドライブ

Outline of Final Research Achievements

Based on the theory of gear efficiency, static analysis was conducted, revealing that the backdrivability depends on the difference in the number of teeth between the fixed gear and the output gear. Furthermore, through the analysis of the dynamic model, the following findings were made:(1) In terms of terminal velocity, it is possible for the system to continue accelerating when the difference in the number of teeth between the fixed gear and the output gear is small and the dynamic friction coefficient of the tooth surface is large. In the experimental setup developed in this study, even with a tooth count difference set to 1, continuous acceleration was observed.(2) The required vibration force increases as the applied load, vibration frequency, and amplitude increase.
Therefore, by estimating the vibration force based on the proposed dynamic model in relation to the results of (2), I found that the estimated vibration force roughly matched the results of the dynamic model.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

遊星ギヤに関して効率を理論的に求める試みはこれまで多く行われてきた．しかし，遊星ギヤにおいてバックドライブ不可能なことに着目した研究がこれまでほとんどない．したがって，「バックドライブ切り替えに適する加振素子」を解明することは極めて独自性の高い試みである．この研究成果により，将来的にはロボット用しなやかさ切り替えシステムの信頼性を既存技術より向上させられる．こうした技術は以下のような社会への応用が期待できる．・通常時にはエネルギを節約し，非常時にはバックドライブさせることができる工場での産業用ロボット．・介護分野において，介護をアシストするロボット