Background
Gear–clutch mechanism
Rack-tilting mechanism
Basic concept
Stable meshing condition
Jam-free condition
Model validation and discussion
Parameter | Variable | Value |
---|---|---|
Pitch radius of G1, G2, G3 |
\(r_1\), \(r_2\), \(r_3\)
| 7.5, 22.5, 11.25 mm |
Gears module |
m
| 1.5 mm |
Pressure angle |
\(\alpha\)
|
\(20^\circ\)
|
Spring constant |
k
| 0.052 N/mm |
Spring preloaded force |
\(F_{sp}\)
| 0.312 N |
Experiment input torque |
\(\tau _{in}\)
| 25, 50, 75, 100 mNm |
Experiment link angle |
\(\theta _{exp}\)
|
\(0^\circ {-}144^\circ /12^\circ\) step increment |
Jam-free condition |
\(\theta\)
|
\(86.29^\circ< \theta < 158.76^\circ\)
|
Stable mesh condition |
\(\theta\)
|
\(0^\circ < \theta \le 140^\circ\)
|
Robotic joint prototype
Parameter | Variable | Value |
---|---|---|
Designed maximum output torque | – | 4 Nm |
Maximum HF travel angle | – |
\(220^\circ\)
|
Approx. low reduction efficiency |
\(\eta _{L}\)
| 0.90 |
Approx. high reduction efficiency |
\(\eta _{H}\)
| 0.57 |
Low reduction ratio |
\(G_{L}\)
| 4.44 |
High reduction ratio |
\(G_{H}\)
| 93.75 |
Max step transmission ratio |
\(R_{step}\)
| 22.09 |
Link angle |
\(\theta\)
|
\(98.5^\circ\)
|
Jam-free and stable mesh condition |
\(\theta\)
|
\(64.47^\circ< \theta < 140^\circ\)
|