Design of a New 4-DOF Haptic Master Featuring Magnetorheological Fluid

This work presents a novel 4-degree-of-freedom (4-DOF) haptic master using magnetorheological (MR) fluid which is applicable to a robot-assisted minimally invasive surgery (RMIS) system. By using MR fluid, the proposed haptic device can easily generate bidirectional repulsive torque along the directions of the required motions. The proposed master consists of two actuators: an MR bidirectional clutch associated with a planetary gear system and an MR clutch with a bevel gear system. After demonstrating the configuration, the torque models of MR actuators are mathematically derived based on the field-dependent Bingham model. An optimal design that accounts for spatial-limitation and the desired torque constraint is then undertaken. An optimization procedure based on finite element analysis is proposed to determine optimal geometric dimensions. Based on the design procedure, MR haptic master with the optimal parameters has been manufactured. In order to demonstrate the practical feasibility of the proposed haptic master, the field-dependent generating repulsive force is measured. In addition, a proportional-integral-derivative (PID) controller is empirically implemented to accomplish the desired torque trajectories. It has been shown that the proposed haptic master can track the desired torque trajectory without a significant error.

Download Full-text

Light Weight and Low-Misalignment Planetary Gear System for Open Rotor Power Gearbox

Volume 8: 11th International Power Transmission and Gearing Conference; 13th International Conference on Advanced Vehicle and Tire Technologies ◽

10.1115/detc2011-47342 ◽

2011 ◽

Author(s):

Tetsuya Matsuoka ◽

Hiroyasu Nishikawa ◽

Hideyuki Imai ◽

Kenichi Kijima ◽

Tooru Nishida ◽

...

Keyword(s):

Stress Measurement ◽

Design Method ◽

Planetary Gear ◽

Gear System ◽

Element Analysis ◽

Design Work ◽

Open Rotor ◽

Planetary Gear System ◽

Aero Engines ◽

Planet Carrier

The future aero engines expected to have the best fuel efficiency are those with the open rotor propulsion system. It has two rows of propellers rotating in opposite directions. The rotational speeds of the propellers are reduced by a power gearbox. The power gearbox is designed as a differential planetary gear system with double helical teeth. The gearbox for aero engines needs to be lightweight and highly reliable. Misalignment on the gear pair affects adversely the reliability of the gears. The misalignment analysis of the power gearbox based on finite element analysis was carried out. The inclination of the planet spindles associated with the twisting deformation of the planet carrier was identified as the major cause of the misalignment. We developed an innovative design method to achieve the low misalignment and lightweight at the same time by optimizing the stiffness balance of the planet carrier. The optimization analysis was carried out extensively in the design work. The planet carrier design was named Analysis Configured Engineering planet Carrier (ACE CARRIER). A stress measurement was planned to validate the design concept of the ACE CARRIER. A test gearbox was manufactured.

Download Full-text

An analyzing method of coupled modes in multi-stage planetary gear system

International Journal of Precision Engineering and Manufacturing ◽

10.1007/s12541-014-0601-9 ◽

2014 ◽

Vol 15 (11) ◽

pp. 2357-2366 ◽

Cited By ~ 9

Author(s):

Wei Sun ◽

Xin Ding ◽

Jing Wei ◽

Xinglong Hu ◽

Qingguo Wang

Keyword(s):

Planetary Gear ◽

Gear System ◽

Coupled Modes ◽

Multi Stage ◽

Planetary Gear System

Download Full-text

Analysis of nonlinear dynamic characteristic of a planetary gear system considering tooth surface friction

Proceedings of the Institution of Mechanical Engineers Part J Journal of Engineering Tribology ◽

10.1177/1350650121991741 ◽

2021 ◽

pp. 135065012199174

Author(s):

Jingyue Wang ◽

Ning Liu ◽

Haotian Wang ◽

Jiaqiang E

Keyword(s):

Damping Ratio ◽

Excitation Frequency ◽

Planetary Gear ◽

Gear System ◽

Tooth Surface ◽

Lumped Mass ◽

Heavy Load ◽

Light Load ◽

Planetary Gear System ◽

Bifurcation Behavior

Based on the lumped mass method, a torsional vibration model of the planetary gear system is established considering the nonlinear factors such as friction, time-varying meshing stiffness, backlash, and comprehensive error. The Runge–Kutta numerical method is used to analyze the motion characteristics of the system with various parameters and the influence of tooth friction on the bifurcation and chaos characteristics of the system. The numerical simulation results show that the system has rich bifurcation behavior with the excitation frequency, damping ratio, comprehensive error amplitude, load and backlash, and experiences multiple periodic motion and chaotic motion. Tooth friction makes the bifurcation behavior of the system fuzzy in the high frequency and heavy load areas, makes the chaos of the system restrained in the low-damping ratio and light load areas, advances the bifurcation point of the system in the small comprehensive error amplitude area, and makes the period window of the chaos area larger in the large-backlash area, which makes the bifurcation behavior of the system more complex.

Download Full-text

Force control based on biarticular muscle system and its application to novel robot arm driven by planetary gear system

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2010.5654314 ◽

2010 ◽

Author(s):

Sehoon Oh ◽

Y Kimura ◽

Y Hori

Keyword(s):

Force Control ◽

Planetary Gear ◽

Gear System ◽

Robot Arm ◽

Muscle System ◽

Biarticular Muscle ◽

Planetary Gear System

Download Full-text

Effect of the bearing clearance on vibrations of a double-row planetary gear system

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419319893488 ◽

2019 ◽

Vol 234 (2) ◽

pp. 347-357

Author(s):

Jing Liu ◽

Shizhao Ding ◽

Linfeng Wang ◽

Hongwu Li ◽

Jin Xu

Keyword(s):

Contact Stiffness ◽

Planetary Gear ◽

Gear Ratio ◽

Gear System ◽

Double Row ◽

External Torque ◽

Bearing Clearance ◽

Gear Systems ◽

Planetary Gear System ◽

Stiffness And Damping

The bearing clearance, external torque, and input speed can greatly affect vibrations of the planetary gear system. The double-row planetary gear systems are commonly used in the gearbox of special vehicles, which are the key parts to obtain a larger gear ratio. Although many works have been presented to study those factors on vibrations of the single-row planetary gear system, a few works were focused on vibrations of the double-row planetary gear system with the bearing clearance. To overcome this problem, a multi-body dynamic model of a double-row planetary gear system with six planet bearings and one supported bearing of the sun gear is presented. This model is the main part of a gear box transmission system. The new model is developed for studying the effect of the bearing clearance on the planetary system. The meshing stiffness and damping between the gears are obtained by current methods in the listed references, as well as the contact stiffness and damping in bearings. The liner stiffness and damping model is used. The effects of the bearing clearance, external torque, and input speed on vibrations of the system are analyzed. The results show that vibrations of the ring gear and sun gear decrease with the increment of the external torque and increase with the increment of the input speed. Moreover, a reasonable bearing clearance can be helpful for reducing system vibrations for some mating external torque and input speed conditions. The results can provide some guidance to find new method to reduce vibrations and increase the service life of planetary gear systems.

Download Full-text

Dynamical Response of a Planetary Gear System with Faults Using Recurrence Statistics

Springer Proceedings in Physics - Topics in Nonlinear Mechanics and Physics ◽

10.1007/978-981-13-9463-8_9 ◽

2019 ◽

pp. 177-185 ◽

Cited By ~ 1

Author(s):

B. Ambrożkiewicz ◽

Y. Guo ◽

G. Litak ◽

P. Wolszczak

Keyword(s):

Planetary Gear ◽

Gear System ◽

Dynamical Response ◽

Planetary Gear System ◽

Recurrence Statistics

Download Full-text

Novel mechanism of artificial finger using double planetary gear system

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2008.4650589 ◽

2008 ◽

Cited By ~ 10

Author(s):

K. Koganezawa ◽

Y. Ishizuka

Keyword(s):

Planetary Gear ◽

Gear System ◽

Planetary Gear System

Download Full-text

Torsional Vibrations and Dynamic Loads in a Basic Planetary Gear System

Journal of Vibration and Acoustics ◽

10.1115/1.3269349 ◽

1986 ◽

Vol 108 (3) ◽

pp. 348-353 ◽

Cited By ~ 50

Author(s):

R. August ◽

R. Kasuba

Keyword(s):

Dynamic Model ◽

Degrees Of Freedom ◽

Planetary Gear ◽

Gear System ◽

Dynamic Loads ◽

Ring Gear ◽

Gear Mesh ◽

Input And Output ◽

Planetary Gear System ◽

Three Degrees Of Freedom

An interative method has been developed for analyzing dynamic loads in a light weight basic planetary gear system. The effects of fixed, semi-floating, and fully-floating sun gear conditions have been emphasized. The load dependent variable gear mesh stiffnesses were incorporated into a practical torsional dynamic model of a planetary gear system. The dynamic model consists of input and output units, shafts, and a planetary train. In this model, the sun gear has three degrees of freedom; two transverse and one rotational. The planets, ring gear, and the input and output units have one degree of freedom, (rotation) thus giving a total of nine degrees of freedoms for the basic system. The ring gear has a continuous radial support. The results indicate that the fixed sun gear arrangement with accurate or errorless gearing offers in general better performance than the floating sun gear system.

Download Full-text

Design and Test of Differential Planetary Gear System for Open Rotor Power Gearbox

Volume 5: 25th International Conference on Design Theory and Methodology; ASME 2013 Power Transmission and Gearing Conference ◽

10.1115/detc2013-12089 ◽

2013 ◽

Author(s):

Hideyuki Imai ◽

Tatsuhiko Goi ◽

Kenichi Kijima ◽

Tooru Nishida ◽

Hidenori Arisawa ◽

...

Keyword(s):

Performance Test ◽

High Efficiency ◽

High Reliability ◽

Gear Tooth ◽

Planetary Gear ◽

Design Concept ◽

Gear System ◽

Open Rotor ◽

Planetary Gear System ◽

Validation Tests

The open rotor engine is a next generation aero-engine that satisfies the demand for high fuel efficiency and low CO2 emission. A differential planetary gear system is incorporated in the open rotor engine to connect the turbine output shaft and fan rotors in order to counter-rotate the fan rotors as well as allow the turbine and fan rotors to operate at more efficient speeds. The open rotor gear system is required to have not only 20,000 hp high power transmission, but also an increasingly high efficiency, high reliability and light weight. To achieve these requirements, the following design works were conducted; (1) a low misalignment and lightweight carrier, (2) a flexible structure to absorb the displacement caused by the flight load, (3) an optimum gear tooth modification and (4) reduction of oil churning and windage losses. Also, extensive analyses and simulations such as lube oil flow CFD, FEA and tooth contact analysis were conducted. A full scale prototype gear system was manufactured and validation tests were conducted using a newly constructed test rig to validate the design concept. A slow roll test, rated performance test and efficiency test were conducted. And the design concept was found to be valid. This paper describes details of the prototype design and the results of the validation tests.

Download Full-text