Stair climbing robot with enhanced wheel system : Torque distribution with planetary gear drive

2002 ◽  
Vol 2002 (0) ◽  
pp. 92
Author(s):  
Takashi Yamada ◽  
Kan Taguchi
Keyword(s):  
Planetary Gear ◽  
Stair Climbing ◽  
Climbing Robot ◽  
Torque Distribution ◽  
Gear Drive

Control of a new stair climbing robot with a slider mechanism in a rotating link

2021 ◽  
Vol 2021 (0) ◽  
pp. 2A1-L05
Author(s):  
Tsukasa YOSHIMURA ◽  
Nobuyasu TOMOKUNI ◽  
Noriho KOYACHI
Keyword(s):  
Stair Climbing ◽  
Climbing Robot

scholarly journals Design and Analysis of a Novel Wall-Climbing Robot Mechanism

2011 ◽  
Vol 2-3 ◽  
pp. 346-351 ◽  
Author(s):  
Wei Guang Dong ◽  
Hong Guang Wang ◽  
Ai Hua Liu ◽  
Zhen Hui Li
Keyword(s):  
Negative Pressure ◽  
Planetary Gear ◽  
Gear Train ◽  
Legged Robots ◽  
Curved Surface ◽  
Climbing Robot ◽  
Vacuum Suction ◽  
Wheeled Robots ◽  
Inclined Surfaces ◽  
Hybrid Locomotion

A novel wall-climbing robot mechanism designed for anti-hijacking task is presented. This mechanism consists of a negative pressure adhesion module, a vacuum suction module and a planetary-gear train. The design of biped-wheel hybrid locomotion mechanism, with the advantages of wheeled robots and legged robots, allows the robot to move fast and cross over obstacles easily. This design qualifies the robot for the motion of moving straight, turning in plane and crossing between inclined surfaces. Then the kinematics equations are derived and the locomotion modes are analyzed. Many experiments have been implemented and the results prove that the robot has such characteristics as rapid speed, excellent transition ability between inclined surfaces and curved surface adaptability. Therefore, this novel wall-climbing mechanism could be used for the application of inspection, surveillance and reconnaissance.

Space-time model and spectrum mechanism on vibration signal for planetary gear drive

2019 ◽  
Vol 129 ◽  
pp. 164-185 ◽  
Author(s):  
Zhijie Zeng ◽  
Kang Ding ◽  
Guolin He ◽  
Weihua Li
Keyword(s):  
Planetary Gear ◽  
Vibration Signal ◽  
Space Time ◽  
Time Model ◽  
Gear Drive ◽  
Space Time Model

Small Tooth Number Difference Planetary Gear Drive with a Crank and Oscillating Block Inputting Mechanism

2011 ◽  
Vol 52-54 ◽  
pp. 1268-1273 ◽  
Author(s):  
Jian Kun Cui
Keyword(s):  
Potential Application ◽  
Planetary Gear ◽  
Transmission Mechanism ◽  
Gear Pair ◽  
Gear Drive ◽  
Small Tooth ◽  
Tooth Number ◽  
New Type ◽  
Internal Gear ◽  
Block Mechanism

A new mechanism construction for small tooth number difference planetary gear drive is developed in which the planet wheel is guided by a planar crank and oscillating block mechanism. The sizes of linkage are design dexterously to get an approximate circumference linkage curve so that the engaging condition of internal gear pair can be satisfied. The trajectory of the inner gear center motion is analyzed and its error comparing with a standard circle is calculated to avoid movement interference. The movement of inner gear is study particularly to deduced formula of instantaneous transmission ratio. Despite observable fluctuation of output speed, this new type of gear transmission mechanism still has potential application value in situation with large ratio and low input speed. A hand drive winch prototype using the mechanism is also illustrated in this paper.

scholarly journals Experimental Investigations of Noise Control in Planetary Gear Set by Phasing

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
S. H. Gawande ◽  
S. N. Shaikh
Keyword(s):  
Experimental Work ◽  
Noise Level ◽  
Planetary Gear ◽  
Experimental Investigations ◽  
Mesh Stiffness ◽  
Gear Noise ◽  
Gear Drive ◽  
Internal Excitation ◽  
Key Factor ◽  
Set Up

Now a days reduction of gear noise and resulting vibrations has received much attention of the researchers. The internal excitation caused by the variation in tooth mesh stiffness is a key factor in causing vibration. Therefore to reduce gear noise and vibrations several techniques have been proposed in recent years. In this research the experimental work is carried out to study the effect of planet phasing on noise and subsequent resulting vibrations of Nylon-6 planetary gear drive. For this purpose experimental set-up was built and trials were conducted for two different arrangements (i.e., with phasing and without phasing) and it is observed that the noise level and resulting vibrations were reduced by planet phasing arrangement. So from the experimental results it is observed that by applying the meshing phase difference one can reduce planetary gear set noise and vibrations.

A Multi-Purpose Planetary Gear Testing Machine for Studies of Gear Drive Dynamics, Efficiency, and Lubrication

1973 ◽  
Vol 95 (4) ◽  
pp. 1123-1130 ◽  
Author(s):  
R. Kasuba ◽  
E. I. Radzimovsky
Keyword(s):  
Gear Tooth ◽  
Measurement Techniques ◽  
Testing Machine ◽  
Planetary Gear ◽  
Gear Drive ◽  
Operational Characteristics ◽  
Surface Durability ◽  
Drive Dynamics ◽  
Selection Of

Feasibility of a multi-purpose testing machine for research studies in gearing has been demonstrated with construction of a unique gear testing machine with a differential planetary gear drive. This machine was used in such interdependent studies as determination of instantaneous gear tooth engagement loads, minimum film thicknesses, and gear efficiencies. With minimal structural and mechanical modifications, this gear research machine can be used for studies of surface durability, thermal distribution in gear meshing zones, and effects of variable torques and torsional oscillations on performance of gearing. Most of these studies could be conducted simultaneously. Upon selection of appropriate gear ratios, this machine was operated either with one or two stationary gears. Presence of stationary gears simplified greatly the measurement techniques and increased the reliability of tests. This machine can accommodate spur, helical or any special type of gearing. Design and operational characteristics of this machine, as well as a short summary of research projects performed on this machine, are presented in this paper.

Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –

2008 ◽  
Vol 20 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Yuji Asai ◽  
◽  
Yasuhiro Chiba ◽  
Keisuke Sakaguchi ◽  
Naoki Bushida ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Stair Climbing ◽  
Design Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

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