High gear ratio mechanical transmissions for actuators: Simplified models for efficiency under opposing and aiding loads

Planetary gear drives are widely employed in electrical and hydraulic actuation systems, to adapt a high speed, low torque motor to a low speed, high torque user, within strict weight and volume constraints. During the early design phases of these devices, accurate yet simple simulation models are required to evaluate the performance of a given configuration of the device. Similar models are also useful within diagnostic and health monitoring analyses of existing machines, as a discrepancy between the actual behaviour of the physical system and that predicted by its digital twin may be the effect of a damage. This work compares different models available in literature for the efficiency of high gear ratio mechanical transmissions; the models are applied to multiple arrangements common for planetary drives, and the results in form of an efficiency map for the transmissions are compared and discussed. The simulations provide different levels of detail, and require different levels of knowledge about the specific architecture of the system. All of them are able to deal with dry friction; additionally, the different behaviour of the transmission under the effect loads aligned in the same direction of speed or in the opposite one is accounted for.