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Design and analysis of the bearingless planetary gearbox

Georgiev, Nikola and Burdick, Joel (2017) Design and analysis of the bearingless planetary gearbox. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 1987-1994. ISBN 978-1-5386-2682-5.

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High performance legged and mobile manipulating robotic platforms require light weight actuators with high torque density, efficiency, and accuracy. This paper introduces a new type of high reduction bearingless gearbox which is based on a gearbox with double-row planetary pinion, and can achieve high reduction ratios in a single composite stage. We discuss the practical issues which limit the applicability of the existing double row gearbox, and motivate our innovations. Several advantages of the bearingless gearbox over current approaches in terms of robustness, possible load distribution, manufacturability, and assembly are described. In the concept, all gear components float unconstrained, which is achieved by introducing an additional kinematic constraint that allows planets to be the same, in which case the planet carrier can be substituted with a secondary sun gear. The resulting planetary gearbox can be readily integrated into compact robotic joints. Its few lightweight components can be manufactured with high accuracy with standard machining techniques.

Item Type:Book Section
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Additional Information:© 2017 IEEE. This work was partially supported by the Robotics Collaborative Technology Alliance.
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Robotics Collaborative Technology Alliance (RCTA)UNSPECIFIED
Record Number:CaltechAUTHORS:20180405-152859356
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Official Citation:N. Georgiev and J. Burdick, "Design and analysis of the bearingless planetary gearbox," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 1987-1994. doi: 10.1109/IROS.2017.8206018. URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85660
Deposited By: Tony Diaz
Deposited On:05 Apr 2018 22:46
Last Modified:15 Nov 2021 20:31

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