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Compact Gearboxes for modern Robotics: A Review. / Lopez Garcia, Pablo; Crispel, Stein; Saerens, Elias; Verstraten, Tom; Lefeber, Dirk.

In: Frontiers in Robotics and AI, Vol. 7, 7, 14.08.2020, p. 103.

Research output: Contribution to journalScientific review

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@article{ea67b31045024cd0ba4c0d13f4da0bf6,
title = "Compact Gearboxes for modern Robotics: A Review",
abstract = "On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most industrial robots, two relatively unconventional transmission technologies – Harmonic Drives {\circledC} and Cycloid Drives – are usually found, which are not so broadly used in other industries. Understanding the origin of this singularity provides valuable insights in the search for suitable, future robotic transmission technologies.In this paper we propose an assessment framework strongly conditioned by HRI applications, and we use it to review the performance of conventional and emerging robotic gearbox technologies, for which the design criterion is strongly shifted towards aspects like weight and efficiency. The framework proposes to use virtual power as a suitable way to assess the inherent limitations of a gearbox technologies to achieve high efficiencies. This paper complements the existing research dealing with the complex interaction between gearbox technologies and the actuators, with a new gearbox-centered perspective particularly focused on HRI applications.",
keywords = "Transmissions, Gearboxes, HRI, Efficiency, Virtual Power, Harmonic Drive, Cycloid drive",
author = "{Lopez Garcia}, Pablo and Stein Crispel and Elias Saerens and Tom Verstraten and Dirk Lefeber",
year = "2020",
month = "8",
day = "14",
doi = "https://doi.org/10.3389/frobt.2020.00103",
language = "English",
volume = "7",
pages = "103",
journal = "Frontiers in Robotics and AI",
issn = "2296-9144",
publisher = "Frontiers Media",

}

RIS

TY - JOUR

T1 - Compact Gearboxes for modern Robotics: A Review

AU - Lopez Garcia, Pablo

AU - Crispel, Stein

AU - Saerens, Elias

AU - Verstraten, Tom

AU - Lefeber, Dirk

PY - 2020/8/14

Y1 - 2020/8/14

N2 - On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most industrial robots, two relatively unconventional transmission technologies – Harmonic Drives © and Cycloid Drives – are usually found, which are not so broadly used in other industries. Understanding the origin of this singularity provides valuable insights in the search for suitable, future robotic transmission technologies.In this paper we propose an assessment framework strongly conditioned by HRI applications, and we use it to review the performance of conventional and emerging robotic gearbox technologies, for which the design criterion is strongly shifted towards aspects like weight and efficiency. The framework proposes to use virtual power as a suitable way to assess the inherent limitations of a gearbox technologies to achieve high efficiencies. This paper complements the existing research dealing with the complex interaction between gearbox technologies and the actuators, with a new gearbox-centered perspective particularly focused on HRI applications.

AB - On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most industrial robots, two relatively unconventional transmission technologies – Harmonic Drives © and Cycloid Drives – are usually found, which are not so broadly used in other industries. Understanding the origin of this singularity provides valuable insights in the search for suitable, future robotic transmission technologies.In this paper we propose an assessment framework strongly conditioned by HRI applications, and we use it to review the performance of conventional and emerging robotic gearbox technologies, for which the design criterion is strongly shifted towards aspects like weight and efficiency. The framework proposes to use virtual power as a suitable way to assess the inherent limitations of a gearbox technologies to achieve high efficiencies. This paper complements the existing research dealing with the complex interaction between gearbox technologies and the actuators, with a new gearbox-centered perspective particularly focused on HRI applications.

KW - Transmissions

KW - Gearboxes

KW - HRI

KW - Efficiency

KW - Virtual Power

KW - Harmonic Drive

KW - Cycloid drive

U2 - https://doi.org/10.3389/frobt.2020.00103

DO - https://doi.org/10.3389/frobt.2020.00103

M3 - Scientific review

VL - 7

SP - 103

JO - Frontiers in Robotics and AI

JF - Frontiers in Robotics and AI

SN - 2296-9144

M1 - 7

ER -

ID: 52552323