2023 Fiscal Year Final Research Report
Highly energy-regenerative bilateral actuators
| Project/Area Number |
21H04556
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Medium-sized Section 21:Electrical and electronic engineering and related fields
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| Research Institution | Yokohama National University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
下野 誠通 横浜国立大学, 大学院工学研究院, 准教授 (90513292)
小原 秀嶺 横浜国立大学, 大学院工学研究院, 准教授 (50772787)
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| Project Period (FY) |
2021-04-05 – 2024-03-31
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| Keywords | アクチュエータ / 減速機 / 回生効率 |
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| Outline of Final Research Achievements |
In actuators, reduction gearboxes with a large reduction ratio of 1/100 are used in applications such as robots, which are compact and require large torque. The energy efficiency of conventional reduction gears is about 70% in power operation and about 55% in regenerative operation, and energy loss is an issue for industrial robots that require frequent repetitive motion. In this study, the efficiency of a differential type 2K-H composite planetary gearbox with a single large planetary gear was maximized by optimization calculations, in which the difference in the number of teeth between the planetary gear and the internal gear was minimized as much as possible. Three types of reduction gears with a new structure were manufactured and compared, and the efficiency measurement experiment showed that the maximum efficiency was 84%, which was improved by approximately 10%. Frequency analysis revealed the influence of vibration caused by eccentricity.
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| Free Research Field |
電気電子工学
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| Academic Significance and Societal Importance of the Research Achievements |
減速機はモータのトルク不足を補う目的で用いられアクチュエータには必要不可欠な要素であるにも関わらずその効率向上の研究はほとんど行われてこなかった。ロボットや搬送機械で用いられる1/100程度の減速比の減速機については、力行動作時に30%もの損失があるばかりか、回生動作時には45%もの損失があり、実際には回生電力を利用せずに回生抵抗で熱として放出してしまっている。本研究の減速機効率の最大化手法により、ロボットや搬送装置でのエネルギー損失を低減でき、製造現場全体の大幅な省エネルギー化を実現できる。さらに、複数台組み合わせることにより瞬時消費電力の総和を抑え、負荷を平準化につなげることができる。
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