Traction Drives for Zero Stick-Slip Robots, and Reaction Free, Momentum Balanced Systems
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Traction Drives for Zero Stick-Slip Robots, and Reaction Free, Momentum Balanced Systems

Traction Drives for Zero Stick-Slip Robots, and Reaction Free, Momentum Balanced Systems


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About the Book

Two differential (dual input, single output) drives (a roller-gear and a pure roller), and a momentum balanced (single input, dual output) drive (pure roller ) were designed, fabricated, and tested. The differential drives are each rated at 295 rad/sec (2800 rpm) input speed, 450 N-m (4,000 in-lbf) output torque. The momentum balanced drive is rated at 302 rad/sec (2880 rpm) input speed, and dual output torques of 434N-m (3840 in-lbf). The Dual Input Differential Roller-Gear Drive (DC-700) has a planetary roller-gear system with a reduction ratio (one input driving the output with the second input fixed) of 29.23: 1. The Dual Input Differential Roller Drive (DC-500) has a planetary roller system with a reduction ratio of approximately 24:1. Each of the differential drives features dual roller-gear or roller arrangements consisting of a sun, four first row planets, four second row planets, and a ring. The Momentum Balanced (Grounded Ring) Drive (DC-400) has a planetary roller system with a reduction ratio of 24:1 with both outputs counterrotating at equal speed. Its single roller cluster consists of a sun, five first and five second row planets, a roller cage or spider and a ring. Outputs are taken from both the roller cage and the ring which counterrotate. Test results reported for all three drives include angular and torque ripple (linearity and cogging), viscous and Coulomb friction, and forward and reverse power efficiency. Of the two differential drives, the Differential Roller Drive had better linearity and less cogging than did the Differential Roller-Gear Drive, but it had higher friction and lower efficiency (particularly at low power throughput levels). Use of full preloading rather than a variable preload system in the Differential Roller Drive assessed a heavy penalty in part load efficiency. Maximum measured efficiency (ratio of power out to power in) was 95% for the Differential Roller-Gear Drive and 86% for the Differential Roller Drive. The Momentum B...


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Product Details
  • ISBN-13: 9781723464119
  • Publisher: Createspace Independent Publishing Platform
  • Publisher Imprint: Createspace Independent Publishing Platform
  • Height: 279 mm
  • No of Pages: 168
  • Spine Width: 9 mm
  • Width: 216 mm
  • ISBN-10: 1723464112
  • Publisher Date: 23 Jul 2018
  • Binding: Paperback
  • Language: English
  • Returnable: N
  • Weight: 404 gr


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Traction Drives for Zero Stick-Slip Robots, and Reaction Free, Momentum Balanced Systems
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