自动优化行星齿轮组设计，实现高效轻量机械臂执行器
COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators
- 基于计算优化自动选择最优齿轮组类型与参数
- 实测单级行星齿轮执行器效率达60%-80%，背隙仅0.59度
- 支持直接3D打印，适合机器人轻量化设计研发
机器人执行器的最优设计是关键研究方向，但对齿轮箱参数优化与自动化CAD生成的关注仍不足。本文提出COMPAct：一种系统性优化四种行星齿轮箱（单级、复合、沃尔弗姆、双级）参数的框架，针对不同电机在宽范围传动比下实现质量最小化、宽度最窄化和效率最大化，并自动完成执行器三维建模，支持直接3D打印而无需人工修改。通过该框架，探索了多种齿轮类型在不同工况下的适用性，自动生成四类齿轮箱在不同传动比与电机组合下的完整CAD模型。两种执行器样机经实验验证：单级行星齿轮执行器效率达60%-80%，无载背隙0.59°，传动刚度242.7 Nm/rad；复合行星齿轮执行器效率60%，背隙2.6°，刚度201.6 Nm/rad。
原文摘要 · Abstract (English)
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct: Computational Optimization and Automated Modular Design of Planetary Actuators, a framework that systematically identifies optimal gearbox parameters for a given motor across four gearbox types, single-stage planetary gearbox (SSPG), compound planetary gearbox (CPG), Wolfrom planetary gearbox (WPG), and double-stage planetary gearbox (DSPG). The framework minimizes mass and actuator width while maximizing efficiency, and further automates actuator CAD generation to enable direct 3D printing without manual redesign. Using this framework, optimal gearbox designs are explored across a wide range of gear ratios, providing insights into the suitability of different gearbox types while automatically generating CAD models for all four gearbox types with varying gear ratios and motors. Two actuator types are fabricated and experimentally evaluated through power efficiency, no-load backlash, and transmission stiffness tests. Experimental results indicate that the SSPG actuator achieves a mechanical efficiency of 60-80%, a no-load backlash of 0.59 deg, and a transmission stiffness of 242.7 Nm/rad, while the CPG actuator demonstrates 60% efficiency, 2.6 deg backlash, and a stiffness of 201.6 Nm/rad. CODE: https://github.com/singhaman1750/COMPAct.git VIDEO: https://youtu.be/etK6anjXag8?si=jFK7HgAPSBy-GnDR
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。