Compact Gearboxes for Modern Robotics: A Review

Possibilities of Using Selected Additive Methods for the Production of Polymer Harmonic Drive Prototypes

This article includes an analysis of the possibility of using polymer materials for the production of harmonic drive. The use of additive methods greatly eases and accelerates the manufacturing of the flexspline. In the case of gears made of polymeric materials using rapid prototyping (RP) methods, the problem is often with their mechanical strength. In a harmonic drive, the wheel is uniquely exposed to damage, because during work, it deforms and is additionally loaded with torque. Therefore, numerical calculations were conducted using the finite element method (FEM) in the Abaqus program. As a result, information was obtained on the distribution of stresses in the flexspline and their maximum values. On this basis, it was possible to determine whether a flexspline made of specific polymers could be used in commercial harmonic drives or whether they were only adequate for the production of prototypes.

Fault Diagnosing of Cycloidal Gear Reducer Using Statistical Features of Vibration Signal and Multifractal Spectra

The article presents a method for diagnosing cycloidal gear damage on a laboratory stand. The damage was simulated by removing the sliding sleeves from two adjacent external pins of the cycloidal gearbox. Damage to the sliding sleeves may occur under operating conditions and can lead to the destruction of the gear unit. Hence, early detection is essential. Signals from torque sensors, rotational speed sensors and vibration acceleration sensors of input and output shafts for various rotational speeds and transmission loads were recorded. The frequency analysis of these signals was carried out. Due to the fluctuation of the rotational speed, the frequency spectrum gives an approximate picture and is not useful in detecting this type of damage. The statistical characteristics of the signal were determined. However, only statistical moments of higher orders, such as kurtosis, are sensitive to the tested damage. Therefore, the use of multifractal analysis of the vibration signal using the wavelet leader method (WLMF) was considered. Then log-cumulants of the multifractal spectrum were selected as the new signal features.

Fuzzy Luenberger Observer Design for Nonlinear Flexible Joint Robot Manipulator

The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The developed Luenberger observer showed its ability to control the FJRM by utilizing only the measured signal of the velocity of the motor. Stability analysis is implemented to improve the ability of the designed observer to stabilize the FJRM system. The developed observer is tested by simulation to evaluate the ability of the observer to estimate the unknown states. The results showed that the proposed control algorithm estimated the motor angle, gear angle, link angle, angular velocity of gear, and angular velocity of link with zero steady errors.

Challenges and solutions for application and wider adoption of wearable robots

The science and technology of wearable robots are steadily advancing, and the use of such robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of wearable robots should not be taken for granted, especially since many recent attempts to bring them to real-life applications resulted in mixed outcomes. The aim of this article is to address the current challenges that are limiting the application and wider adoption of wearable robots that are typically worn over the human body. We categorized the challenges into mechanical layout, actuation, sensing, body interface, control, human-robot interfacing and coadaptation, and benchmarking. For each category, we discuss specific challenges and the rationale for why solving them is important, followed by an overview of relevant recent works. We conclude with an opinion that summarizes possible solutions that could contribute to the wider adoption of wearable robots.

Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control strategies and methods could be implemented in various electronic devices to improve the performance and usability of these devices, which is desirable in any application. This paper proposes the integration and testing of a high-torque, servo-driven joint and its electronic controller, exposing its use in a robotic exoskeleton prototype as a case study. Following a brief background review, the development and implementation of the proposal are presented, allowing the control of the servo-driven joint in terms of torque, rotational velocity, and position through a straightforward, closed-loop control architecture. Additionally, the stability and performance of the servo-driven joint were assessed with and without load. In conclusion and based on the obtained results, the servo-driven joint and its control system demonstrate consistent performance under the proposed test protocol (max values: angular velocity 97 °/s, torque 33 Nm, positioning RMSE 1.46°), enabling this approach for use in various applications related to robotic exoskeletons, including human performance enhancement, rehabilitation, or support for daily living activities.