Force Adaptation in Robot Transmissions

In this work the theoretical bases of the force adaptation in robot transmissions are stated. The force adaptation in robot transmissions considers creation, research and designing of robots with adaptive electric drives of modules. The adaptive drive contains the electric motor and the adaptive gear mechanism possessing property independently to change output speed of movement depending on loading. This property of adaptation is named as self-regulation. Self-regulation is carried out only at the expense of mechanics and does not demand a control. The adaptive drive demands smaller power, overcomes emergency overloads, is structurally simple and has small dimensions and weight. These advantages are especially important for intermediate modules of the manipulator. Use of adaptive drives provides high power efficiency of the robot and decrease of the sizes.