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An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators

[+] Author Affiliations
Hoon Lee, Delbert Tesar

The University of Texas at Austin, Austin, TX

Paper No. DETC2011-48030, pp. 1167-1176; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


It is critical for principal bearing stiffness for actuators to be evaluated for robot applications. The bearing stiffness calculation can be obtained from Hertzian contact theory. From a design standpoint, given the bearing stiffness, the target stiffness of the actuator shell structure and output plate may be an order higher than that of the principal bearing. This paper evaluates and compares the relationship between the stiffness of the shell structure and principal bearing as well as between the stiffness of the output-plate and principal bearing. The principal bearing for the actuator could be the crossed roller bearing (CRB), four-point bearing (FPB), or a tapered roller bearing (TRB) because they best accommodate the combined radial, axial, and moment loads. Also, the bearing weight and assembled weight (shell structure + principal bearing + output-plate) required to obtain appropriate stiffness can be evaluated based on the stiffness of these adjacent structures which hold the principal bearing. Finally, the shortest possible force path passing through the principal bearing from the shell to the output plate makes it possible to maximize actuator stiffness and reduces other negative effects.

Copyright © 2011 by ASME



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