Bilateral Drive Gear—A Highly Backdrivable Reduction Gearbox for Robotic Actuators

摘要

For safety purposes, cooperative robots are installed with an actuator composed of a low-power servo motor, a reduction gearbox, and a torque sensor. When cooperative robots make contact with humans or the environment, they must detect the contact force with a force sensor, a contact sensor, or a joint torque sensor. Equipping these sensors increases the cost and size of the application, but can be avoided under sufficient backdrivability of the actuator. To this end, we propose a method that maximizes the power transmission efficiency of the 3K planetary reduction gearbox and develop a prototype of the backdrivable reduction gearbox called the bilateral drive gear. For this maximization, the profile shift coefficients and the number of teeth are decided under some conditions. The forwardand backward-driving efficiencies of the prototype gearbox were 89.0% and 85.3%, respectively, and the reverse-drive starting torque was 0.020 N·m. The drive efficiency of the same gearbox with uncorrected teeth is 68.5%. The forward-driving efficiency was 20.5% higher than the nonoptimized one. We confirmed that prototype gearboxes with different gear ratios are easily backdrivable by hand.