Executive Summary : | In the proposal, the mechanism for power transmission in all robotic joints of a humanoid robots is done with zero backlash speed reducer i.e. strain wave gear. It is a device that provides multi-joint flexible structures with high stiffness, low backlash and self-locking mechanisms that require small actuators. The use of differential strain wave gears in place of convention unit is proposed which improves the power transmission. The differential unit consists of an extra external toothed surface on flex spline FS and a dynamic spline DS as compared to conventional strain wave gear. The differential strain wave gear has equal teeth in FS and dynamic spline, which creates the coupling action between FS and DS in differential unit. The proposed investigation mainly aims to develop two different type of differential strain gear for the joints in humanoid robot such as differential strain wave gear with internal SWG and external SWG. In this differential strain wave gear unit, the performance of the differential action will be increased if the coupling action between FS and dynamic spline will be eradicated. This newer version of the HD units must be tested for its kinematics and real time application. |