A complete mathematical modelling of robots actuated by epicyclic-gear

Brahim Fernini *

Department of Industrial Engineering, College of Engineering and Computer Science Mustaqbal University, Buraydah 52547 Kingdom of Saudi Arabia.
 
Review
International Journal of Frontiers in Engineering and Technology Research, 2023, 05(02), 042–060.
Article DOI: 10.53294/ijfetr.2023.5.2.0032
Publication history: 
Received on 12 October 2023; revised on 10 December 2023; accepted on 13 December 2023
 
Abstract: 
The industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks.
 
Keywords: 
Dynamic Modelling; (n) Equally Spaced Planet-Gears; Kinetic Energy; Joint Torque​
 
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