Work

Anti-Backlash Mechanisms for Cycloidal Drive Robotic Actuators: Design and Evaluation

Year: 2025

Type: article

Abstract: We design and experimentally evaluate two anti-backlash mechanisms for cycloidal reducers. The two mechanisms are integrated into variations of a proposed design of quasi-direct drive actuator. Three prototypes are realised to compare the two mechanisms against the baseline design. We evaluate the effectiveness of the anti-backlash mechanisms under varying preload with measurements of friction, backlash, and stiffness. The results demonstrate that the anti-backlash mechanisms are effective at reducing backlash by approx. 2-3x, at the expected expense of increased friction ($< $2x).

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2025.3619805

Authors: Wesley Roozing, Jelmer Volbeda

Institution: University of Twente

Language: English

Topic: Gear and Bearing Dynamics Analysis

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4415002999

FWCI: 1.205

Cites: 17

Cited by: 4

Related to: