Strain Wave Gear Braking Assembly With Input-Output Locking
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Solution Overview
Problem
Conventional strain wave gearing systems require large braking mechanisms to restrict motion, which increases the overall size of the gearbox.
Innovation Solution
A compact braking assembly is integrated within the strain wave gearing, where a first braking member is attached to the input shaft and a second braking member is attached to the output shaft, allowing for direct mechanical braking between the input and output portions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional braking mechanism is used to restrict motion of the output shaft relative to the housing, then the braking function is achieved, but the overall size of the gearbox increases
Solution Approach 1:
The braking mechanism is merged with the strain wave gearing components themselves. The first braking member is attached to the wave generator (input) and the second braking member is attached to the flex spline (output), combining the braking function with the existing gearing structure rather than adding a separate braking system to the housing.
Solution Approach 2:
The braking members are nested within the existing strain wave gearing structure. The braking assembly is positioned inside the gear train, with the first braking member on the input shaft and the second braking member on the output shaft, utilizing the existing spatial arrangement of the gearing components.
2Reliability
If a brake is attached to the housing to mechanically engage the input or output shaft, then the braking function is achieved, but the number of components increases
Solution Approach 1:
The braking function is merged with the existing input and output shafts of the strain wave gearing. The first braking member utilizes the wave generator shaft and the second braking member utilizes the flex spline shaft, eliminating the need for separate braking components attached to the housing.
Solution Approach 2:
The input and output shafts of the strain wave gearing serve dual functions: transmitting mechanical power and providing mounting surfaces for the braking members. This multi-functionality reduces the total component count by eliminating dedicated braking components.
3Reliability
If a large braking mechanism is used to brake the entire gearing system to the housing, then the braking function is achieved, but the envelope size of the mechanism increases
Solution Approach 1:
The braking mechanism is merged with the compact strain wave gearing structure, utilizing the existing input and output shafts as the basis for the braking members. This integration allows the braking function to be achieved within the existing compact envelope of the gear train without requiring additional space.
Solution Approach 2:
Instead of braking the entire gearing system to the housing, the braking action is applied locally at the input and output shafts where the torque is already concentrated. This localized braking approach requires a smaller brake envelope while achieving the same holding effect.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution reduces the holding torque required for braking, minimizes the overall footprint of the gearbox, and reduces the number of components needed to achieve effective braking.
Implementation Method 1
the first braking member contacts the second braking member to mechanically brake the input portion to the output portion
Data Source
AI summary
A braking assembly for a strain wave gearing of a surgical robotic manipulator, the braking assembly including a first braking member fixedly coupled to an input portion of a strain wave gearing of a surgical robotic manipulator; and a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the first braking member contacts the second braking member to mechanically brake the input portion to the output portion.