Arm Design (HUBO) 2. Shoulder Roll Design. Type 2. 3 pivot joints. Roll. Yaw. Output Member(housing) Cap. Faulhaber V.

Size: px

Start display at page:

Download "Arm Design (HUBO) 2. Shoulder Roll Design. Type 2. 3 pivot joints. Roll. Yaw. Output Member(housing) Cap. Faulhaber V."

Deirdre Wright
6 years ago
Views:

1 3 pivot joints 2. Shoulder Roll Design Type 2 Roll Pitch Yaw Output Member(housing) Cap Faulhaber V Fixed Member of Shoulder Yaw Joint Output Member Bearings Fixed Member Output Member Of Shoulder Pitch Joint

2 3. Shoulder Yaw Design Type 3 Cap 3 pivot joints Fixed Member (Outer housing) Roll Pitch Ring Inner housing Faulha aber V Bearing Cap Yaw Output Member Elbow Part

3 4. Elbow Design Type 3 Bearings Cap Fixed Member Cap Pitch Faulhaber V Inner Housing Outer Housing Output Member 28

4 5. Wrist Pan Design: Actuator Type : 104:1 (Planetary Gearhead) + Maxon RE-Max 24V (11W) Pan Weight : 70 g Nominal Voltage : 24V Torque Constant : 24.4 mnm/a Nominal Current : A 29

Maxon Gearhead Selection Gearhead types available :

Advantages/Disadvantages of Reduction Gears 종류

gear Planetary gear 작동원리 장점 단점 로봇적용 high gear ratio

flexible high gear ratio high torque high overload

backlash than normal planetary gear (flex ring

medium gear ratio medium backlash best poor good poor

5 Maxon Gearhead Selection Gearhead types available : Servo amplifier type available Advantages/Disadvantages of Reduction Gears 종류 Harmonic drive Cycloidal drive Harmonic planetary gear Planetary gear 작동원리 장점 단점 로봇적용 high gear ratio (60:1 이상 ) no backlash high torque torsionally flexible high gear ratio high torque high overload capability medium backlash poor efficiency lower backlash than normal planetary gear (flex ring gear를사용 ) high torque highh radial load capability medium gear ratio medium backlash best poor good poor lower backlash than spur gear high torque high radial load capability medium gear ratio medium backlash 30

6 Planetary Gearhead 109:1 31

7 Planetary Gearhead (109:1) + RE-Max 24 + MR encoder 32

8 Forearm structure (fixed member) DC motor fixture (fixed member) RE Max 24 with a g earhead Bearing M4 Set Screws Output t member Force/Torque sensor (output member) Wrist Tilt Structuret Single bearing support of output shaft Output member separation problem 33

9 Improved Design : Additional Bearing RE Max 24 with a g earhead Increased structure strength No separation problem Additional Cap Screw connection 34

10 Bearing & Shaft : Fixed Member Outer Race Fixed Member Outer Race Inner Race Shaft Shaft

11 6. Wrist Tilt Design: Actuator Type : 2:1 Pulley/Belt + 100:1 Harmonic Gear + Maxon RE-Max 24V (11W) Configuration HAND Output Member Input Shaft of HG Tilt Output t Shaft of HG Harmonic Gear Fixed Motor Bearings Timing pulley/belt Fixed Member (wrist) 36

12 2D CAD Drawing Fixed Member Motor Output Member Harmonic Gear Hand 37

13 Mini Harmonic Gear 38

14 Type 1U (Double shaft) 39

15 Size of Type 1U (Double shaft) 40

Head Design (HUBO) The head is composed of

Total 6 DOF CCD cameras are attached at the

16 Head Design (HUBO) The head is composed of the neck and eyes. The Pan & Tilt mechanism is adopted for a neck and eyes. Total 6 DOF CCD cameras are attached at the eve mechanism. Pan of Neck Pan of eve Tilt of eye θ tilt θ pan Tilt of Neck Pan & Tilt Mechanism 41

17 Head Design (HUBO) Actuator capacity : Head Neck Eye Pan P/G(109:1) N/A RE-Max 24(11W) Tilt H/G(100:1) P/B(2:1) RE-Max 24(11W) Pan P/G(246:1) N/A Faulhaber 1724(2.64W) Tilt P/G(246:1) P/B(1.56:1 ) Faulhaber 1724(2.64W) Faulhaber 1724 : Faulhaber 1724 with gearhead 42

18 Head Design (HUBO) Max Torque of Motor : 26.3 x 0.19 x 3 = 15 mnm > 1mNm l = 0.01 m = 0.1 Kg g Required torque : 0.01x0.1=1mNm 43

19 Head Design (HUBO) Gearhead Selection : All plastic : large backlash, light Metal : less backlash than plastic!! Metal & plastic : large backlash 44

20 Head Design (HUBO) As a rule of thumb, 1N is about a weight of a hamburger. Max Torque of Actuator : 15 mnm x 246 = 3.7 Nm > 0.45 Nm 45

21 Head Design (HUBO) (1) Eyes Pan & Tilt Joints : Housing for CCD camera (Output Member 2) Timing i Pulley/Belt Tilt Joint Motor (Faulhaber 1724) Fixed Member 2 Output Member 1 Single Bearing Supporting Fixed Member 1 Pan Joint Motor (Faulhaber 1724) 46

22 Head Design (HUBO) (2) Neck Pan Joint : Direct drive Planetary gearhead (109:1) Pan Joint Motor (RE-Max 24) Output Member Single Bearing Supporting Chest Frame (Fixed Member) 47

23 Head Design (HUBO) Improved Design Additional Bearing Bearing Cap 48

24 Head Design (HUBO) (3) Neck Tilt Joint : Indirect drive using Mini harmonic gear (100:1) Mini harmonic gear Fixed Member Top View Input Shaft Top View Output Member 49

25 Head Design (HUBO) 2D Assembly Drawing : RE-Max 24 for Neck Tilt Joint 50

26 Head Design (HUBO) Motion Test of Hand & Head : Open-loop motion testt Closed-loop l motion test 51

General Terms and Conditions:

General Terms and Conditions: Your configuration Part number*: B72DB9E3BD8D Consists of: Motor - DCX22S GB KL 12V Planetary gearhead - GPX22 C 21:1 maxon motor worldwide http://www.maxonmotor.com/maxon/view/content/contact_page E-Mail: