Florian Oberneder ^1* Stefan Landler ¹ Michael Otto ¹ Birgit Vogel-Heuser ¹ Markus Zimmermann ² Karsten Stahl ¹

• ¹ Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany
• ² School of Engineering and Design, Technical University of Munich, Munich, Germany

For a drive unit for axes of robots and robot-like systems (RLS) usually a motor-gearbox arrangement is chosen due to its high-power density. The combination of a high-ratio gearbox and a high-speed electric motor ensures a very compact and efficient design of the drive train. The transmission properties primarily determine the properties of the axes and the whole robot system. Robots and RLS use various types of high-ratio precision gearboxes based on different operating principles. Due to the different operating principles, it is difficult to describe comparable properties across all different types. In addition, there are many influences on the properties which significantly determine their shapes and values. These influencing parameters are insufficiently documented and are often poorly accessible for profound comparability and further consideration.In this paper, an overview of the properties of robot gearboxes is given. Based on these properties, different robot gearboxes can be systematically evaluated and compared to one another. The properties are influenced by various design, operating or manufacturing factors such as the gearbox size, the operating torque and speed or the manufacturing process. In a further step, these influences on the most relevant properties, efficiency and stiffness, are determined and systematically evaluated. This evaluation is based on the specification data of various robot gearbox manufacturers. The properties efficiency and stiffness show a dependency on the gearbox size, the operating torque, speed as well as the ambient temperature and on the transmission ratio. The shown procedure can also be adapted to other properties.