Statistics – Applications
Scientific paper
Jul 2005
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2005esasp.591..307n&link_type=abstract
In: Proceedings of the 11th European Space Mechanisms and Tribology Symposium, ESMATS 2005, 21-23 September 2005, Lucerne, Switz
Statistics
Applications
Mechanisms Components
Scientific paper
This paper summarizes the design and the development of a miniature rotary actuator (36 mm diameter by 100 mm length) used in spacecraft mechanisms requiring high torques and/or ultra-fine step resolution. This actuator lends itself to applications requiring high torque but with strict volume limitations which challenge the use of conventional rotary actuators. The design challenge was to develop a lightweight (less than 500 grams), very compact, high bandwidth, low power, thermally stable rotary actuator capable of producing torques in excess of 50 N.m and step resolutions as fine as 0.003 degrees. To achieve a relatively high torsional stiffness in excess of 1000 Nm/radian, the design utilizes a combination of harmonic drive and multistage planetary gearing. The unique design feature of this actuator that contributes to its light weight and extremely precise motion capability is a redundant stepper motor driving the output through a multistage reducing gearbox. The rotary actuator is powered by a high reliability space-rated stepper motor designed and constructed by Moog, Inc. The motor is a three-phase stepper motor of 15 degree step angle, producing twenty-four full steps per revolution. Since micro-stepping is not used in the design, and un-powered holding torque is exhibited at every commanded step, the rotary actuator is capable of reacting to torques as high as 35 Nm by holding position with the power off. The output is driven through a gear transmission having a total train ratio of 5120:1, resulting in a resolution of 0.003 degrees output rotation per motor step. The modular design of the multi-stage output transmission makes possible the addition of designs having different output parameters, such as lower torque and higher output speed capability. Some examples of an actuator family based on this growth capability will be presented in the paper.
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