Table 1 Specification of the experimental model
From: Jam-free gear–clutch mechanism for load-sensitive step transmission in robotic joint
Parameter | Variable | Value |
|---|---|---|
Pitch radius of G1, G2, G3 | \(r_1\), \(r_2\), \(r_3\) | 7.5, 22.5, 11.25 mm |
Gears module | m | 1.5 mm |
Pressure angle | \(\alpha\) | \(20^\circ\) |
Spring constant | k | 0.052 N/mm |
Spring preloaded force | \(F_{sp}\) | 0.312 N |
Experiment input torque | \(\tau _{in}\) | 25, 50, 75, 100 mNm |
Experiment link angle | \(\theta _{exp}\) | \(0^\circ {-}144^\circ /12^\circ\) step increment |
Jam-free condition | \(\theta\) | \(86.29^\circ< \theta < 158.76^\circ\) |
Stable mesh condition | \(\theta\) | \(0^\circ < \theta \le 140^\circ\) |