Meeting the Technical Demands for AMR & AGV Wheel Drives by Jim Leonard Drive wheels for autonomous mobile robot platforms benefit from the inherent characteristics of Harmonic Planetary® gearheads. This paper will discuss those characteristics as a function of the HPG series planetary design and technology. The Harmonic Planetary® HPG Series stands out from the crowd. Its design enables exceedingly smooth, high-torque transmission in a very compact form factor. in a narrow, single row configuration and can handle moment loads comparable to a double row bearing or a pair of angular contact bearings which are significantly wider. The compact form factor, which is a typical design requirement for AGV and AMR propulsion systems, is largely achieved by incorporating an integral full complement cross roller bearing (CRB) assembly. The CRB, by design, comes The CRB used in the HPG Series is preloaded and provides an accurate and highly rigid output to which the wheel can be directly attached. Inherent in roller bearing technology is the line contact between rolling elements and hardened raceways. Line contact minimizes elastic deformation under extreme loads and as such, the single row CRB exhibits high-load capacity and a resistance to shock loading. In a CRB design, roller elements are placed orthogonally to one another between the raceways. The resulting construction is capable of accepting loads from all directions simultaneously. As such, radial, axial and tilting moment loads are all supported within the Cross Roller Bearing Construction

compact CRB construction. CRB service life is a function of load and speed and can be reliably calculated, thus ensuring service life expectations can be met with proper product selection. The structure of the Harmonic Planetary® gear is highly integrated with the CRB. This integration allows for further size reduction of the gearhead envelope and also simplifies the internal design. The inner race of the roller bearing is multi-functional. It acts as both the output planet carrier of the planetary gear as well as the rotating output flange. The output flange includes a piloting feature and a...

trains can be more compact axially. Automated mobile robots benefit from a light weight, compact drive train as more of the available power can be used to accelerate and transport loads. • elical gearing is also an option with the H Harmonic Planetary® design. Inherent in helical gearing is a smoother and more gradual tooth engagement. This results in lower audible noise levels and lower vibration. Due to the nature of helical gearing, reaction forces from the mesh require additional bearing support. As such, gearheads with helical gears tend to have a slightly longer overall length. • armonic...

HPG Cross-Roller Bearing Construction Integrated cross-roller bearing and planet carrier provides a compact solution with excellent load and rigidity characteristics. High Efficiency 95%+ efficiency; curves available for every size and ratio* Reduction Ratio = 15, 21 Easy Mounting to a wide variety of Servomotors A cross-roller bearing is integrated with the output flange to provide high moment stiffness, high load capacity and precise positioning accuracy. Quick Connect® motor adaptation system includes a compression style servo coupling and piloted adapter flange. High Load Capacity Output...