Path Planning for Multiple Mobile Robots Using A* Algorithm

This study presents optimization of planetary gear train in a specific configuration. General characteristics of planetary gear trains are discussed briefly. A compound configuration for planetary gear train is selected and an optimization study is performed for this configuration. For the given input power, motor speed and overall gear ratio, modules, facewidths, teeth numbers of gears are found, satisfying the condition of minimum kinetic energy of the gear trains. In optimization, the objective is set to minimization of kinetic energy. Allowable bending stress and allowable contact stress are considered as design constraints. Minimum teeth number for a given pressure angle, center distance, recommendation on the facewidth, limitations on teeth ratios are considered as geometrical and kinematical constraints. The Matlab® Optimtool optimization toolbox is used. Results for certain operating conditions are obtained and tabulated.