Title :
Efficiency analysis of epicyclic gear mechanism of the improved ePaddle mechanism via virtual power
Author :
Huayan Pu ; Jinglei Zhao ; Yi Sun ; Shugen Ma ; Jun Luo ; Gu, Jhen-Fong ; Tao Wang ; Zhenbang Gong
Author_Institution :
Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China
Abstract :
Eccentric paddle mechanism based on epicyclic gear mechanism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious robot. The epicyclic gear mechanism is the key component of ePaddle-EGM to perform multiple gaits. In this paper, efficiency of the epicyclic gear mechanism is analyzed. Via the virtual power flow, we characterize how the efficiency relates with the velocity ratio and torque ratio. Two particular conditions verified the proposed efficiency formulas.
Keywords :
autonomous underwater vehicles; gears; mobile robots; motion control; torque control; velocity control; amphibious robot; ePaddle-EGM mechanism; efficiency analysis; epicyclic gear mechanism; locomotion mechanism; torque ratio; velocity ratio; virtual power flow; Gears; Load flow; Robots; Shafts; Sun; Torque;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739802
