HAZARDOUS AREAS
How to specify a motion solution for a wHeeled robot
perspective, they are easier to design, build and program. For the user, providing the terrain is not heavily obstacle-strewn, wheeled robots can be faster, more efficient, and more resilient. As such, uses for wheeled robots range from pipeline inspection to healthcare environments and even domestic use.
A
major benefit of robots is their ability to complete tasks that may be difficult or hazardous for humans to perform. Many such applications rely on wheel-driven robots. From a manufacturers
for applications that require speed and efficiency of movement, wheeled robots can be advantageous compared to legged robots. their simpler design can also mean lower cost and reduced maintenance. to achieve these benefits, the motion system that powers a wheeled robot must be carefully specified according to the application requirements and environment, taking into account durability, efficiency, and noise. in this article, portescap’s pradeep deshmane, principal engineer for Gearbox, r&d, and manoj pujari, lead engineer for product & development, discuss the motion requirements for wheeled robots.
Integral to a wheeled robot is its motor and
Needle roller bearings can be introduced to increase durability and efficiency by avoiding scuffing failures and providing smooth rotation of planet gears.
gearbox system. At a fundamental level, the system has to be compact and light weight and able to generate the required torque for movement across the specified environment. Frequently used in tough environments, they have also got to be highly durable. For many applications, whether military surveillance or in a hospital, noise emissions must also be minimal. Critically, wheeled robots also require high energy efficiency with a low current consumption. For these reasons, coreless brushed or
brushless DC motors coupled with compact planetary gearboxes are frequently specified.
18 January/february 2022 | industrial compliance
As the motion system is required to fit within a footprint of less than 40mm diameter, mini motors and gearboxes are required. Despite the compact size, the gearbox output torque must typically handle 4Nm to 8Nm at speeds between 50rpm to 150rpm.
Specifying the motion Solution
To determine the specification, start by calculating the output torque required. This must factor in the desired acceleration, as well as wheel diameter and mass. Torque requirements necessary to ascend gradients or overcome obstacles must also be added to the equation and finally, friction and efficiency of
Page 1 |
Page 2 |
Page 3 |
Page 4 |
Page 5 |
Page 6 |
Page 7 |
Page 8 |
Page 9 |
Page 10 |
Page 11 |
Page 12 |
Page 13 |
Page 14 |
Page 15 |
Page 16 |
Page 17 |
Page 18 |
Page 19 |
Page 20 |
Page 21 |
Page 22 |
Page 23 |
Page 24 |
Page 25 |
Page 26 |
Page 27 |
Page 28 |
Page 29 |
Page 30 |
Page 31 |
Page 32 |
Page 33 |
Page 34 |
Page 35 |
Page 36 |
Page 37 |
Page 38 |
Page 39 |
Page 40 |
Page 41 |
Page 42 |
Page 43 |
Page 44 |
Page 45 |
Page 46
