🤖 AI Summary
To address the lack of integrated gearbox parameter optimization and CAD modeling automation in planetary gear actuator design, this paper proposes the first computational framework jointly optimizing gearbox configuration, geometric parameters, and structural layout. The method integrates multi-objective optimization—minimizing mass and axial width while maximizing transmission efficiency—with parametric CAD modeling, enabling fully automated 3D modeling and 3D-printing-ready CAD generation for four planetary gearbox topologies: simple, compound, Woods, and double-simple planetary gearboxes (SSPG, CPG, WPG, DSPG). Its key contributions include systematically characterizing performance boundaries (efficiency, backlash, stiffness) across transmission ratios for each topology and establishing a standardized, motor- and ratio-aware CAD library. Experimental validation shows SSPG achieves 60–80% efficiency, 0.59° backlash, and 242.7 Nm/rad stiffness; CPG attains 60% efficiency, 2.6° backlash, and 201.6 Nm/rad stiffness.
📝 Abstract
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct: Computational Optimization and Automated Modular Design of Planetary Actuators, a framework that systematically identifies optimal gearbox parameters for a given motor across four gearbox types, single-stage planetary gearbox (SSPG), compound planetary gearbox (CPG), Wolfrom planetary gearbox (WPG), and double-stage planetary gearbox (DSPG). The framework minimizes mass and actuator width while maximizing efficiency, and further automates actuator CAD generation to enable direct 3D printing without manual redesign. Using this framework, optimal gearbox designs are explored over a wide range of gear ratios, providing insights into the suitability of different gearbox types across various gear ratio ranges. In addition, the framework is used to generate CAD models of all four gearbox types with varying gear ratios and motors. Two actuator types are fabricated and experimentally evaluated through power efficiency, no-load backlash, and transmission stiffness tests. Experimental results indicate that the SSPG actuator achieves a mechanical efficiency of 60-80 %, a no-load backlash of 0.59 deg, and a transmission stiffness of 242.7 Nm/rad, while the CPG actuator demonstrates 60 % efficiency, 2.6 deg backlash, and a stiffness of 201.6 Nm/rad. Code available at: https://anonymous.4open.science/r/COMPAct-SubNum-3408 Video: https://youtu.be/99zOKgxsDho