로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제19권3호
  • /
  • Pages.229-235
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  • 2024
  • /
  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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복층 볼 배열 구조를 갖는 마찰식 감속기

Friction Reducer with a Multi-Layer Ball Array Structure

  • 김기쁨 ;
  • 신희찬 ;
  • 송재복
  • Gi-Ppeum Kim (Mechanical Engineering, Korea University) ;
  • Hee-Chan Shin (Mechanical Engineering, Korea University) ;
  • Jae-Bok Song (Mechanical Engineering, Korea University)
  • 투고 : 2023.11.22
  • 심사 : 2024.02.27
  • 발행 : 2024.08.30
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초록

This research focuses on reducers, vital components in service robots, with a special emphasis on friction reducers designed for use in environments where interaction with humans is essential. For service robots to effectively perform advanced tasks, it is crucial to have reducers that offer high precision, high reduction ratios, and strong resistance to impacts. To meet these requirements, our study introduces a new design methodology and proposes a friction reducer featuring a multi-layer ball array structure. Compared to traditional gearbox-based reducers, the friction reducer developed in this study demonstrates a higher reduction ratio and improved shock absorption. The performance of this newly proposed reducer has been verified through experimental analysis. It was confirmed that by minimizing drive losses, the system has high backdrivability, delivering a torque of 15 Nm. Additionally, it was observed that the system showed an immediate response without backlash to fine input vibrations.

키워드

과제정보

This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20014923).

참고문헌

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