OPTIMIZATION OF THE ROBOTIC JOINT EQUIPPED WITH EPICYLOIDAL GEAR AND DIRECT DRIVE FOR SPACE APPLICATIONS

机译：适用于空间应用的配备了摆线齿轮和直接驱动的机器人关节的优化

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One of the most critical element in the orbitalrnmanipulators are kinematic joints. Joints must bernadapted to work in tough conditions of spacernenvironment and must ensure the greatest efficiencyrnand work without backlash. At the SpacernMechatronics and Robotics Laboratory (LMRS) ofrnthe Space Research Centre, PAS our team designedrnand built a lightweight kinematic pair based on arnnew concept. The new concept is based on thernepicycloid two-stage gearbox with torque motor. Inrnthis paper we have focused on optimization of thernjoint design for space application. The optimizationrnwas focused on the minimization of the mass andrnbacklash effects and on maximizing the jointrnefficiency.

机译：运动关节是轨道操纵器中最关键的元素之一。接头必须适应在恶劣的隔离环境下工作，并且必须确保最大的效率，并且工作时不能产生反冲。在太空研究中心的太空机电和机器人实验室（LMRS）中，我们的团队设计了基于arnnew概念的轻型运动学对。新概念基于带有扭矩电机的热摆线两级变速箱。在本文中，我们专注于优化空间应用的关节设计。优化的重点是使质量和反冲效应最小化，以及使联合效率最大化。

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来源
《15th European space mechanisms and tribology symposium》|2013年|1-7|共7页
会议地点 Noordwijk(NL)
作者
Karol Seweryn; Kamil Grassmann; Monika Ciesielska; Tomasz Rybus; Michał Turek;
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Space Research Centre PAS, ul. Bartycka 18a, Warszawa 00-716, Poland, Email: kserweryn@cbk.waw.pl;

Space Research Centre PAS, ul. Bartycka 18a, Warszawa 00-716, Poland;

Space Research Centre PAS, ul. Bartycka 18a, Warszawa 00-716, Poland;

Space Research Centre PAS, ul. Bartycka 18a, Warszawa 00-716, Poland;

Space Research Centre PAS, ul. Bartycka 18a, Warszawa 00-716, Poland;

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OPTIMIZATION OF THE ROBOTIC JOINT EQUIPPED WITH EPICYLOIDAL GEAR AND DIRECT DRIVE FOR SPACE APPLICATIONS

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