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adp_laufrobotik:adp_2013:technical_design:actuation_box:design

Design

In order to achieve light weighting and low costs, parts of the actuation box are integrated in the frame. The latter is designed with aluminum profiles 80×40 mm. These are connect- ed with angle brackets. The dimensions of the frame are 1500 x 360 x 980 mm (length x width x height). Electric motor and planetary drive are fixed on the left side of the actuation box, which increases the length of the whole design to about 1750 mm.

Two of the three linear bearings are fixed on the frame’s grooves (Abb. 1, 3); the third one is placed in the middle of them, fixed on a groove of the spindle surface (Abb. 1, 2). On both ends of the linear bearing rails are aluminum plates to prevent the carriages from rolling out of the track.

On the left side the spindle is connected to the frame with an aluminum plate. The spindle length is less than the length of the bearings. So it has to be adapted to the cross-profile (Abb. 1, 5) with a profile 80x80mm (Abb. 1, 6), because these are the cross-section dimensions of the spindle. The linear bearings cannot be shortened, because otherwise more complicated muscle models could not be realized.

<imgcaption image1|Frame with actuation box, without leg. 1: motor and planetary drive, 2: spindle, 3: linear bearing, 4: aluminum plate, 5: cross-profile, 6: adapter profile with Bowden cable adapter> Frame with actuation box, without leg </imgcaption>
To connect the Bowden cable with the actuation box, an adapter is placed on the adapter profile with four screws fixed on the beside grooves of the adapter profile (Abb. 1, 6).

Motor and planetary drive (Abb. 1, 1) fit together without any adapters. They are connected to the spindle via two adapters; one for the shafts and one for the housing. The input shaft of the spindle has a hub4, but the output shaft of the planetary drive has a feather key. Additionally the diameter of the drive shaft is larger than the shaft diameter of the spindle. So the adapter has a quite extraordinary shape (Abb. 2). The housing of the planetary drive is fixed to the spindle housing via another adapter and four screws.

<imgcaption image2|Adapter planetary drive (left) – spindle (right)> Adapter planetary drive </imgcaption>
On one side the spring is connected to the spindle, on the other side to a carriage of the linear bear- ing. Both connections are designed as an angle profile and an eye screw, which can be connected to the eye of the spring.

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adp_laufrobotik/adp_2013/technical_design/actuation_box/design.txt · Zuletzt geändert: 28.11.2022 01:11 von 127.0.0.1


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