3D-printable low-reduction cycloidal gearing for robotics

Wesley Roozing, Glenn Roozing

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
747 Downloads (Pure)

Abstract

The recent trend towards low reduction gearing in robotic actuation has revitalised the need for high-performance gearing concepts. In this work we propose compact low-reduction cycloidal gearing, that is 3D-printable and combined with off-the-shelf components. This approach presents an enormous potential for high performance-to-cost implementations. After discussing parameter selection and design considerations, we present a prototype that is combined with a low-cost brushless motor to demonstrate its potential. Extensive experimental results demonstrate high performance, including >40Nm torque, low friction and play, and high impact robustness. The results show that the proposed approach can yield viable gearbox designs.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1929-1935
Number of pages7
ISBN (Electronic)978-1-6654-7927-1
ISBN (Print)978-1-6654-7928-8
DOIs
Publication statusPublished - 26 Dec 2022
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto International Conference Center (ICC Kyoto), Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

Keywords

  • 2023 OA procedure

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