![]() As the interconnectivity in ICPSs increases, so does the attack surface. Hence, the “security by obscurity” principle provided by air-gapping is no longer followed. Recent innovations in ubiquitous computing and communication technologies have prompted the rapid integration of highly interconnected systems to ICPSs. ![]() Industrial cyber-physical systems (ICPSs) manage critical infrastructures by controlling the processes based on the “physics” data gathered by edge sensor networks. The result is a highly efficient, backdrivable, high-ratio gearbox with exciting potential in Human-Robot Collaboration. Testing five different gearbox prototypes, we confirm the ability of the R2poweR technology to improve efficiency and backdrivability while retaining the weight and control advantages derived from the use of high reduction ratios. This paper presents the proof-of-concept validation of a novel high-ratio, Wolfrom-based, gearbox technology that follows a different approach to attain the same objective. Alternative approaches include Direct-Drive and Quasi Direct-Drive actuation strategies, which propose to cancel or substantially reduce gear ratio, in order to minimize reflected inertia and attain the backdrivability required for collaborative tasks. Available technologies comprise high-ratio Planetary Gearheads, Cycloid Drives, and Harmonic Drives, inherited from conventional industrial robotics. Robotic engineers face today major challenges to solve the complex actuation needs of Human-Robot Collaboration using existing compact robotic gearboxes.
0 Comments
Leave a Reply. |