Omni: A low-backlash planetary Wolfrom gearbox with beveloid gears for robotic applications

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-06-25 DOI:10.1016/j.mechmachtheory.2025.106098

Giuseppe Sciarra , Giovanni Mottola , Gustavo Casamenti , Marco Carricato

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引用次数: 0

Abstract

This article presents an innovative Wolfrom planetary gearbox for robotic applications, named “Omni”. It combines the Wolfrom planetary architecture with beveloid gears to achieve small transmission ratios (up to 1:160) in a compact shape. The key advantage of beveloid gears lies in their ability to adjust their contact position through axial movements, thus ensuring minimal torsional backlash (under 0.6 arcmin) over the entire lifespan of the gearbox. A comparison of the technologies for robot gearboxes is first reported, highlighting the advantages of the proposed solution. The article then presents the architecture and the main characteristics of the new gearbox, with a focus on the kinetostatic analysis. Two designs are proposed: one with solid and coaxial input and output shafts, and another with hollow and parallel shafts to accommodate data and supply cables. Finally, the results of validation experiments are discussed. Endurance and characterization tests confirm that Omni reaches the target performances, such as very low backlash, high stiffness, smooth motion transmission, long lifespan, and low transmission error.

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Omni：一种低间隙行星Wolfrom齿轮箱，用于机器人应用的斜面齿轮

本文介绍了一种创新的Wolfrom行星齿轮箱，用于机器人应用，名为“Omni”。它结合了Wolfrom行星结构与锥面齿轮，以实现小传动比（高达1:160）在一个紧凑的形状。斜齿轮的关键优势在于他们的能力，调整他们的接触位置，通过轴向运动，从而确保最小的扭转间隙（0.6弧分以下）在变速箱的整个寿命。首先报道了机器人变速箱技术的比较，突出了所提出的解决方案的优势。文章然后提出了架构和新变速箱的主要特点，重点是动静力分析。提出了两种设计：一种是实心同轴输入输出轴，另一种是空心平行轴，以容纳数据和供电电缆。最后，对验证实验结果进行了讨论。耐久性和特性测试证实，Omni达到了目标性能，例如极低的侧隙、高刚度、平滑的运动传输、长寿命和低传输误差。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry