Worm gear mechanism with switchable backdrivability

Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to w...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Takayama, Toshio [verfasserIn] Hisamatsu, Naoto

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2019

Schlagwörter:	Worm gear Backdrivability Vibration

Anmerkung:	© The Author(s) 2019

Übergeordnetes Werk:	Enthalten in: ROBOMECH Journal - Berlin : SpringerOpen, 2014, 6(2019), 1 vom: 19. Dez.
Übergeordnetes Werk:	volume:6 ; year:2019 ; number:1 ; day:19 ; month:12

Links:	Volltext

DOI / URN:	10.1186/s40648-019-0149-7

Katalog-ID:	SPR037114409

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520			\|a Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis.
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allfields	10.1186/s40648-019-0149-7 doi (DE-627)SPR037114409 (SPR)s40648-019-0149-7-e DE-627 ger DE-627 rakwb eng Takayama, Toshio verfasserin aut Worm gear mechanism with switchable backdrivability 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. Worm gear (dpeaa)DE-He213 Backdrivability (dpeaa)DE-He213 Vibration (dpeaa)DE-He213 Hisamatsu, Naoto aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 19. Dez. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:19 month:12 https://dx.doi.org/10.1186/s40648-019-0149-7 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 19 12
spelling	10.1186/s40648-019-0149-7 doi (DE-627)SPR037114409 (SPR)s40648-019-0149-7-e DE-627 ger DE-627 rakwb eng Takayama, Toshio verfasserin aut Worm gear mechanism with switchable backdrivability 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. Worm gear (dpeaa)DE-He213 Backdrivability (dpeaa)DE-He213 Vibration (dpeaa)DE-He213 Hisamatsu, Naoto aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 19. Dez. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:19 month:12 https://dx.doi.org/10.1186/s40648-019-0149-7 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 19 12
allfields_unstemmed	10.1186/s40648-019-0149-7 doi (DE-627)SPR037114409 (SPR)s40648-019-0149-7-e DE-627 ger DE-627 rakwb eng Takayama, Toshio verfasserin aut Worm gear mechanism with switchable backdrivability 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. Worm gear (dpeaa)DE-He213 Backdrivability (dpeaa)DE-He213 Vibration (dpeaa)DE-He213 Hisamatsu, Naoto aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 19. Dez. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:19 month:12 https://dx.doi.org/10.1186/s40648-019-0149-7 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 19 12
allfieldsGer	10.1186/s40648-019-0149-7 doi (DE-627)SPR037114409 (SPR)s40648-019-0149-7-e DE-627 ger DE-627 rakwb eng Takayama, Toshio verfasserin aut Worm gear mechanism with switchable backdrivability 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. Worm gear (dpeaa)DE-He213 Backdrivability (dpeaa)DE-He213 Vibration (dpeaa)DE-He213 Hisamatsu, Naoto aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 19. Dez. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:19 month:12 https://dx.doi.org/10.1186/s40648-019-0149-7 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 19 12
allfieldsSound	10.1186/s40648-019-0149-7 doi (DE-627)SPR037114409 (SPR)s40648-019-0149-7-e DE-627 ger DE-627 rakwb eng Takayama, Toshio verfasserin aut Worm gear mechanism with switchable backdrivability 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. Worm gear (dpeaa)DE-He213 Backdrivability (dpeaa)DE-He213 Vibration (dpeaa)DE-He213 Hisamatsu, Naoto aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 19. Dez. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:19 month:12 https://dx.doi.org/10.1186/s40648-019-0149-7 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 19 12
language	English
source	Enthalten in ROBOMECH Journal 6(2019), 1 vom: 19. Dez. volume:6 year:2019 number:1 day:19 month:12
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topic_facet	Worm gear Backdrivability Vibration
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authorswithroles_txt_mv	Takayama, Toshio @@aut@@ Hisamatsu, Naoto @@aut@@
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author	Takayama, Toshio
spellingShingle	Takayama, Toshio misc Worm gear misc Backdrivability misc Vibration Worm gear mechanism with switchable backdrivability
authorStr	Takayama, Toshio
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topic_title	Worm gear mechanism with switchable backdrivability Worm gear (dpeaa)DE-He213 Backdrivability (dpeaa)DE-He213 Vibration (dpeaa)DE-He213
topic	misc Worm gear misc Backdrivability misc Vibration
topic_unstemmed	misc Worm gear misc Backdrivability misc Vibration
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title	Worm gear mechanism with switchable backdrivability
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title_full	Worm gear mechanism with switchable backdrivability
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author_browse	Takayama, Toshio Hisamatsu, Naoto
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doi_str_mv	10.1186/s40648-019-0149-7
title_sort	worm gear mechanism with switchable backdrivability
title_auth	Worm gear mechanism with switchable backdrivability
abstract	Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. © The Author(s) 2019
abstractGer	Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. © The Author(s) 2019
abstract_unstemmed	Abstract A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis. © The Author(s) 2019
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title_short	Worm gear mechanism with switchable backdrivability
url	https://dx.doi.org/10.1186/s40648-019-0149-7
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author2	Hisamatsu, Naoto
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up_date	2024-07-03T21:12:32.982Z
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