Introduction of a redundant actuator using planetary gear trains for human centred robotics

All authors are with the Robotics and Multibody Mechanics Research Group (R&MM), Faculty of Mechanical Engineering, Vrije Universiteit Brussel (VUB) and Flanders Make, Pleinlaan 2, 1050 Elsene, Belgium

^* Corresponding author: Stein.Crispel@vub.be

Abstract

Matching motor efficiency and performance with the load demands can significantly improve the overall efficiency of a driveline. Inspired by the automotive sector -with the high interest of hybrid and electric cars currently-, the authors have studied how state of the art technologies can be used in the relatively new field of collaborative and Human centred robotics. Multiple transmission systems have been considered, among others redundant actuators (both static and kinematic) and continuously variable transmissions. Based on these findings and the experience of the research group on customised planetary gear trains for Human Limb Assistance and Replication, an extensive review of existing redundant actuators is presented in combination with an alternative transmission system which does not need any auxiliary gear transmissions and hence can be lighter and more compact than state of the art drivelines for Human centred robotics. A calculation was performed -including the efficiency model presented by Müller- which shows the high potential of this type of dual-motor actuator.