DocumentCode
681638
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
fYear
2013
fDate
12-14 Dec. 2013
Firstpage
2239
Lastpage
2244
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location
Shenzhen
Type
conf
DOI
10.1109/ROBIO.2013.6739802
Filename
6739802
Link To Document