Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

TL;DR

This paper introduces a novel robot drive based on 3K-H-V topology with involute and cycloidal gears, analyzing its efficiency and designing a prototype that demonstrates high torque density and compactness.

Contribution

It proposes a new 3K-H-V topology for robot drives, including the design and efficiency analysis of a planetary cycloidal actuator prototype.

Findings

Prototype has a hollow structure and compact size

Achieves high torque density of 69 kg/Nm

Efficiency model supports its potential for high-performance robots

Abstract

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 kg/Nm).