Development of the manipulator hinge based on the original planetary differential gearbox

Development of the manipulator hinge based on the original planetary differential gearbox

Andrei N. Timofeev
Saint Petersburg Polytechnical University (SPBPU), Professor, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia; Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Professor, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-66-23, This email address is being protected from spambots. You need JavaScript enabled to view it.

Aleksandr E. Tarasov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Head of Sector, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Yurii A. Novoselov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Designer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received December 19, 2023

Abstract
For manipulation in small spaces, a compact hinge based on an original planetary differential gearbox is proposed. The kinematic diagram of the gearbox is described, the methodology for choosing its optimal parameters is outlined, and compared with wave and traditional planetary gearboxes from leading companies. A joint design is presented, including a planetary differential gearbox, motor, an angle sensor and slip rings. A manipulator built on the basis of the proposed hinges is described.

Key words
Manipulator, manipulator joint, planetary-differential gearbox, calculation method, comparative characteristics.

Acknowledgements
The results were obtained within the framework of the state task of Russian Ministry of Education and Science in 2023 FNRG-2022-0012 1021051302301-9-2.2.2 №075-01595-23-04 «Development of a collaborative robot with an assisting two-armed anthropomorphic manipulation system for working in small spaces».

DOI
10.31776/RTCJ.12208

Bibliographic description
Timofeev, A.N.,  Tarasov, A.E. and Novoselov, Y.A. (2024), "Development of the manipulator hinge based on the original planetary differential gearbox", Robotics and Technical Cybernetics, vol. 12, no. 2, pp. 139-145, DOI: 10.31776/RTCJ.12208. (in Russian).

UDC identifier
621.833.6:621.865.8

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