This paper presents a geared drive on joints of a modular robot using the planocentric involute gearing mechanism. Unlike the typical harmonic drive or cycloid drive those have significant disadvantages in designing and manufacturing, this paper describes it with the replaceable mechanism which has a customized involute gearing design to maximize a speed reduction rate and to avoid the tooth tip interference. In connection with it, the design parameters; pressure angle, tooth height, profile shifting factor and number of teeth are simulated to meet the specific usage as a joint drive of the modular robot. Since the planocentric involute gearing is applied to the joint drive, this can make advantages of easiness of machining and assembling the gears. For a case study as its application, the geared drive; planocentric involute reducer is conceptually designed for a joint module of the modular robot.

A Study on Conceptual Design of Planocentric Involute Reducer for Modular Robot

This paper presents a simulation result of dynamic reaction forces on the slave-arm revolute joint of the mechanical master-slave manipulator for remote handling of radioactive materials and nuclear processing. The dynamic modeling of the manipulator is established in the multi-body dynamics(MBD) simulation S/W of RecurDyn to verify the gear tooth contact force and bearing reaction forces on the revolute joint of its slave-arm on condition of the maximum handling load. For modeling the detailed parts of the revolute joints , two stages gear transmission; one bevel gear-pair and the other spur gear pair, and two support rolling bearings are defined with mechanical properties. As results of the force analysis, the reaction forces on gearing and bearings which are used to address the improvement of the joint design are shown for the manipulator.

Moon-Woo Park

Papers

A Study on Conceptual Design of Planocentric Involute Reducer for Modular Robot

Dynamic Modeling and Force Analysis on Revolute Joint of Mechanical Master-Slave Manipulator using RecurDyn