Hi everyone,
Does anyone know up to what reduction ratio of gear does a motor remain back-drivable? I want my robot to have safe interactions with the environment and other humans. Can you give a reliable reference for your claim? Thanks in advance.
Hello Mahdi Nabipour ,
The only book I have that discusses backdriving electric motors is:
[1] Richard D. Klafter, Thomas A. Chmielewski, Michael Negin; Robotic Engineering, An Integrated Approach; Prentice Hall, Inc.; 1989; pp. 144-146.
According to this book, backdrivability is related to the efficiency of the transmission: the higher the efficiency the higher the backdrivability (p. 146); Table 3.4.1 (p. 146) lists the efficiencies for different types of transmissions. The efficiency of the transmission, in turn, depends on the coupling ratio, gear material coefficient of friction (static and dynamic), cut of the gear teeth, etc. I don't know if this helps.
Regards,
Tom Cuff
Thanks, Thomas Cuff for sharing the document but I couldn't download the book. But am I correct that this book is a bit old and maybe the transmission gears are more advanced in these years so the efficiencies are higher compared to 1989?
I mean maybe the motors and gears that Maxon presents are more efficient than the technology mentioned in the book.
Hello Mahdi Nabipour ,
You are probably right. Have you tried downloading or ordering some of the Maxon Group technical literature available at https://www.maxongroup.com/maxon/view/content/maxon-Knowledge:
[1] The Selection of High Precision Microdrives (Book, which can be ordered in English or German for $42.00 USD)
[2] Formula Compendium (PDF available)
[3] Magnetism (Pdf available)
[4] Etc.
Regards,
Tom Cuff
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