Methodical design of a drive train for a tip-wheel arrangement
DOI:
https://doi.org/10.35830/cn.vi89.709Keywords:
Robotic systems, drive train, harmonic drive, design methodologyAbstract
Inside the mobile robots, there are diverse subsystems that allow its mobility within its designated workspace. Such internal subsystems must also deal with its own design challenges such as: the space needed inside the mobile robot, the weight it contributes to the final system, its energy consumption and the means to integrate with other subsystems.
This study focus on the design of the power transmission subsystem to be utilized as propulsion system on a wheeled-legged mobile robot, focused in the harmonic drives, as they offer high transmission relations in relatively small configurations. The drive train must guarantee the mobile robot’s displacement, look after its energy consumption and restrain to the maximum possible the drive train’s final space and mass.
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Copyright (c) 2023 Luis Enrique Ontiveros Rocha, Juan Felipe Soriano Peña, Luis Alberto Valencia Garay, J. Jesús Pacheco Ibarra, Jesús Eduardo Rodríguez Gutiérrez
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Universidad Michoacana de San Nicolás de Hidalgo, Coordination of Scientific Research, Av. Francisco J. Mujica, Building "C-2", Ciudad Universitaria, Morelia, Michoacán, México, C.P. 58030. All rights reserved. This magazine may be reproduced for non-profit purposes, as long as the full source and its email address are cited. Otherwise it requires prior written permission from the institution and author.
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