Development of a High Load Transmission Rack Gear for a 3D Continuum Robot

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  • 3次元伸縮屈曲アームのための高負荷伝達ラックギアの開発

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<p>As a solution for manpower shortage, soft robot arms that can be used in housekeeping and nursing have been actively developed. A rod-driven soft robot arm that can extend, retract, bend in three dimensions was struggling with a problem of low payload due to tooth skipping of rack gear under high loads. To solve this problem, we devised the new shaped rack gear that can withstand high loads. While the tooth height of the conventional rack gear was 2 mm, we achieved 4 mm tooth height with the new rack gear, keeping the gear tooth size unchanged. The maximum transmission torque without tooth skipping was increased 6.1 times with the new rack gear compared to the conventional rack gear.</p>

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