Development of an underactuated spine robot using a gear train

2020 ◽  
Vol 2020 (0) ◽  
pp. 2A2-G08
Author(s):  
Shogo SUZUKI ◽  
Ryuta OZAWA
Keyword(s):  
Gear Train ◽  
Spine Robot

scholarly journals A Piezoelectric Wave-Energy Converter Equipped with a Geared-Linkage-Based Frequency Up-Conversion Mechanism

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 204
Author(s):  
Shao-En Chen ◽  
Ray-Yeng Yang ◽  
Guang-Kai Wu ◽  
Chia-Che Wu
Keyword(s):  
Power Generation ◽  
Wave Energy ◽  
Wave Motion ◽  
Wave Energy Converter ◽  
Gear Train ◽  
Piezoelectric Composite ◽  
Maximum Height ◽  
Resistive Load ◽  
Linkage Mechanism ◽  
Energy Converter

In this paper, a piezoelectric wave-energy converter (PWEC), consisting of a buoy, a frequency up-conversion mechanism, and a piezoelectric power-generator component, is developed. The frequency up-conversion mechanism consists of a gear train and geared-linkage mechanism, which converted lower frequencies of wave motion into higher frequencies of mechanical motion. The slider had a six-period displacement compared to the wave motion and was used to excite the piezoelectric power-generation component. Therefore, the operating frequency of the piezoelectric power-generation component was six times the frequency of the wave motion. The developed, flexible piezoelectric composite films of the generator component were used to generate electrical voltage. The piezoelectric film was composed of a copper/nickel foil as the substrate, lead–zirconium–titanium (PZT) material as the piezoelectric layer, and silver material as an upper-electrode layer. The sol-gel process was used to fabricate the PZT layer. The developed PWEC was tested in the wave flume at the Tainan Hydraulics Laboratory, Taiwan (THL). The maximum height and the minimum period were set to 100 mm and 1 s, respectively. The maximum voltage of the measured value was 2.8 V. The root-mean-square (RMS) voltage was 824 mV, which was measured through connection to an external 495 kΩ resistive load. The average electric power was 1.37 μW.

Dynamic Characteristics of Double Helical Planetary Gear Train With Tooth Friction

2015 ◽  
Author(s):  
Fengxia Lu ◽  
Rupeng Zhu ◽  
Haofei Wang ◽  
Heyun Bao ◽  
Miaomiao Li
Keyword(s):  
Degrees Of Freedom ◽  
Sliding Friction ◽  
Planetary Gear ◽  
Gear Train ◽  
Variable Step Size ◽  
Step Size ◽  
Planetary Gear Train ◽  
Gear Mesh ◽  
Meshing Stiffness ◽  
Nonlinear Dynamics Model

A new nonlinear dynamics model of the double helical planetary gear train with 44 degrees of freedom is developed, and the coupling effects of the sliding friction, time-varying meshing stiffness, gear backlashes, axial stagger as well as gear mesh errors, are taken into consideration. The solution of the differential governing equation of motion is solved by variable step-size Runge-Kutta numerical integration method. The influence of tooth friction on the periodic vibration and nonlinear vibration are investigated. The results show that tooth friction makes the system motion become stable by the effects of the periodic attractor under the specific meshing frequency and leads to the frequency delay for the bifurcation behavior and jump phenomenon in the system.

A New Technique Based on Loops to Investigate Displacement Isomorphism in Planetary Gear Trains

2002 ◽  
Vol 124 (4) ◽  
pp. 662-675 ◽  
Author(s):  
V. V. N. R. Prasad Raju Pathapati ◽  
A. C. Rao
Keyword(s):  
Graph Isomorphism ◽  
Planetary Gear ◽  
Degree Of Freedom ◽  
Gear Train ◽  
Graph Representation ◽  
Kinematic Structure ◽  
Graph Representations ◽  
Planetary Gear Trains ◽  
Gear Trains ◽  
A New Technique

The most important step in the structural synthesis of planetary gear trains (PGTs) requires the identification of isomorphism (rotational as well as displacement) between the graphs which represent the kinematic structure of planetary gear train. Previously used methods for identifying graph isomorphism yielded incorrect results. Literature review in this area shows there is inconsistency in results from six link, one degree-of-freedom onwards. The purpose of this paper is to present an efficient methodology through the use of Loop concept and Hamming number concept to detect displacement and rotational isomorphism in PGTs in an unambiguous way. New invariants for rotational graphs and displacement graphs called geared chain hamming strings and geared chain loop hamming strings are developed respectively to identify rotational and displacement isomorphism. This paper also presents a procedure to redraw conventional graph representation that not only clarifies the kinematic structure of a PGT but also averts the problem of pseudo isomorphism. Finally a thorough analysis of existing methods is carried out using the proposed technique and the results in the category of six links one degree-of-freedom are established and an Atlas comprises of graph representations in conventional form as well as in new form is presented.

A Lightweight Split-Torque Transmission for a 330 KW Helicopter

1982 ◽  
Vol 196 (1) ◽  
pp. 11-22 ◽  
Author(s):  
G White
Keyword(s):  
Gear Train ◽  
Main Rotor ◽  
Speed Reduction ◽  
Torque Transmission ◽  
Current Production ◽  
Gear Trains ◽  
Fixed Axis ◽  
Three Stages ◽  
A Current ◽  
Split Torque

A simple split-torque gear train is used as the main rotor transmission of a single-engine helicopter. Overall speed reduction ratio achieved is 103:1 between the engine at a nominal 36 000 rev/min and the main rotor at 350 rev/min. This ratio is generated from three stages of fixed-axis gear trains containing only eight gears. Alternative configurations are outlined and discussed. Comparison with a current production design shows the split torque arrangement offers reductions in weight, height, and drive train losses. A low total of gears and bearings offers the potential for improved reliability.

Reduction of Transaxle Gear Noise by Gear Train Modification

1992 ◽  
Author(s):  
Kouichi Ariga ◽  
Takeshi Abe ◽  
Yoshiaki Yokoyama ◽  
Yasuharu Enomoto
Keyword(s):  
Gear Train ◽  
Gear Noise

Topological Synthesis of Epicyclic Gear Trains Using Vertex Incidence Polynomial

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Vinjamuri Venkata Kamesh ◽  
Kuchibhotla Mallikarjuna Rao ◽  
Annambhotla Balaji Srinivasa Rao
Keyword(s):  
High Velocity ◽  
Mechanical Energy ◽  
Gear Train ◽  
Recursive Method ◽  
Gear Pair ◽  
Simple Method ◽  
Epicyclic Gear ◽  
Thick Line ◽  
Gear Trains ◽  
Isomorphic Graphs

Epicyclic gear trains (EGTs) are used in the mechanical energy transmission systems where high velocity ratios are needed in a compact space. It is necessary to eliminate duplicate structures in the initial stages of enumeration. In this paper, a novel and simple method is proposed using a parameter, Vertex Incidence Polynomial (VIP), to synthesize epicyclic gear trains up to six links eliminating all isomorphic gear trains. Each epicyclic gear train is represented as a graph by denoting gear pair with thick line and transfer pair with thin line. All the permissible graphs of epicyclic gear trains from the fundamental principles are generated by the recursive method. Isomorphic graphs are identified by calculating VIP. Another parameter “Rotation Index” (RI) is proposed to detect rotational isomorphism. It is found that there are six nonisomorphic rotation graphs for five-link one degree-of-freedom (1-DOF) and 26 graphs for six-link 1-DOF EGTs from which all the nonisomorphic displacement graphs can be derived by adding the transfer vertices for each combination. The proposed method proved to be successful in clustering all the isomorphic structures into a group, which in turn checked for rotational isomorphism. This method is very easy to understand and allows performing isomorphism test in epicyclic gear trains.

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