干渉駆動を用いた変速駆動装置の開発

• 高山 俊男

  東京工業大学大学院総合理工学研究科

• 荒川 貴文

  東京工業大学大学院総合理工学研究科

• 小俣 透

  東京工業大学大学院総合理工学研究科

書誌事項

タイトル別名

• Coupled Driven Variable Transmission Unit

抄録

This presents a coupled driven variable transmission unit that can vary its gear ratio 1/60 and 1/300. Conventional variable transmission units such as V-belt and roller CVTs are not appropriate for robot joints because they cut off power transmission while varying gear ratios or are simply too large. Variable transmission units that use two motors are also developed for robot fingers. However, one of the motors in the units does not contribute output, which is a dead weight during operation. The proposed variable transmission unit uses two motors for output based on coupled drive of them. The rotation directions of the two motors determine the gear ratio and the rotation direction of the output shaft. This paper describes installation of the developed variable transmission unit using worm gears. Experimental results validate the variable transmission unit, which is effective especially for power saving.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 78 (794), 3541-3551, 2012

  一般社団法人 日本機械学会

キーワード

• Mechanism
• Mechatronics
• Robot
• Variable Transmission
• Coupled Drive

詳細情報

• CRID: 1390001206386670720
• NII論文ID: 130002051591
• DOI: 10.1299/kikaic.78.3541
• ISSN: 18848354
• ISSN: 03875024
• Web Site: https://www.jstage.jst.go.jp/article/kikaic/78/794/78_3541/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可