KR20170053499A - Multi-joint manipulator - Google Patents

Multi-joint manipulator Download PDF

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Publication number
KR20170053499A
KR20170053499A KR1020150156105A KR20150156105A KR20170053499A KR 20170053499 A KR20170053499 A KR 20170053499A KR 1020150156105 A KR1020150156105 A KR 1020150156105A KR 20150156105 A KR20150156105 A KR 20150156105A KR 20170053499 A KR20170053499 A KR 20170053499A
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KR
South Korea
Prior art keywords
driving
module
unit
drive
connection
Prior art date
Application number
KR1020150156105A
Other languages
Korean (ko)
Inventor
이석우
신영일
임재훈
조기용
김태훈
Original Assignee
삼성중공업 주식회사
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Application filed by 삼성중공업 주식회사 filed Critical 삼성중공업 주식회사
Priority to KR1020150156105A priority Critical patent/KR20170053499A/en
Publication of KR20170053499A publication Critical patent/KR20170053499A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Abstract

An articulated manipulator is provided according to an embodiment of the present invention.
The multi-joint manipulator according to an embodiment of the present invention includes at least one first drive module for providing a rotational force about one axis, at least one second drive module for providing a rotational force about two axes orthogonal to each other, And a first connection part and a second connection part, to which one of the first drive module and the second drive module is connected, and the first connection part and the second connection part are connected to the first drive module or the second drive module, And at least one connection module that is orthogonal to each other.

Description

Multi-joint manipulator

The present invention relates to a multi-joint manipulator, and more particularly, to a multi-joint manipulator capable of implementing various types of joints with a minimum number of modules.

In general, industrial robots are indispensable factors for constructing an unmanned automated factory, which is the final goal of factory automation, and can be largely classified into mobile robots and fixed robots (or manipulators, manipulators). have.

The mobile robot autonomously moves objects along a given path while avoiding obstacles, and can move the position freely with sensors and actuators. The manipulator has a plurality of joints to perform operations such as welding, material handling, painting, and assembly, and the motion of the connected link can be determined according to the degrees of freedom of the joints.

However, the conventional manipulator is not easy to implement various joint shapes, and there is a restriction to use it, so that it can not be utilized in various fields easily.

Korean Patent Publication No. 10-2008-0048055 2008. 05. 30

SUMMARY OF THE INVENTION It is an object of the present invention to provide a multi-joint manipulator capable of implementing various types of joints with a minimum number of modules.

The technical objects of the present invention are not limited to the technical matters mentioned above, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a multi-joint manipulator including at least one first drive module for providing a rotational force about one axis, at least one first drive module for providing a rotational force about two axes orthogonal to each other, And a first connection part and a second connection part to which one of the first driving module and the second driving module is connected, and the first connection part and the second connection part are connected to each other, And at least one connection module in which rotation axes of the first driving module or the second driving module are orthogonal to each other.

The connection module may be formed such that the first connection portion and the second connection portion are formed on different surfaces, and the normal line of the first connection portion and the second connection portion may be formed to be perpendicular to each other.

The first drive module and the second drive module provide rotational force independently of each other, and the second drive module can independently provide rotational force about the two axes.

The first driving module includes a first driving unit, and the first driving unit includes a first driving unit that rotates to provide a driving force, a first driving unit that limits the rotation of the first driving unit, A first deceleration unit connected to the first driving unit and varying the rotation speed of the first driving unit, and a first control unit connected to the first shaking unit and controlling the first driving unit.

The rotation axis of the first deceleration unit may be disposed on the same line as the rotation axis of the first driving unit.

The second driving module includes two second driving units. The second driving unit includes a second driving unit that rotates to provide a driving force, a second shaking unit that limits the rotation of the second driving unit, A second deceleration unit connected to the second driving unit for varying the rotation speed of the second driving unit, and a second control unit connected to the second deceleration unit to control the second driving unit.

The rotation axis of the second deceleration unit may be disposed on the same line as the rotation axis of the second driving unit.

According to the present invention, a minimum number of modules can be assembled to realize various types of joints. Therefore, it is possible to utilize it easily in a variety of fields due to reduced restrictions on use, and precision control can be performed, thereby improving production efficiency.

1 is a perspective view of a multi-joint manipulator according to an embodiment of the present invention.
Figure 2 is a front view of the articulated manipulator of Figure 1;
3 is an exploded view of the articulated manipulator of FIG.
4 is a cross-sectional view of the articulated manipulator of FIG.
5 is an operational view for explaining the operation of the articulated manipulator.
6 is a view showing the use state of the articulated manipulator.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, a multi-joint manipulator according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6. FIG.

1 is a perspective view of a multi-joint manipulator according to an embodiment of the present invention.

The articulated manipulator 1 according to the embodiment of the present invention is an industrial robot whose motion is determined according to the degrees of freedom of the articulated part, and can be used for, for example, welding, material handling, painting, have.

The articulated manipulator (1) can assemble a variety of articulated joints by assembling a minimum number of modules. Therefore, it is possible to utilize it easily in various fields due to the restriction on use, and it is possible to perform precise control, thereby improving production efficiency.

Hereinafter, the articulated manipulator 1 will be described in detail with reference to Figs. 2 to 4. Fig.

FIG. 2 is a front view of the articulated manipulator of FIG. 1, FIG. 3 is an exploded view of the articulated manipulator of FIG. 1, and FIG. 4 is a sectional view of the articulated manipulator of FIG.

The articulated manipulator 1 according to the present invention includes at least one first drive module 10, at least one second drive module 20, and at least one connection module 30.

The first drive module 10 provides a rotational force about one axis and may be formed in a tubular shape having a circular or polygonal cross section and arranged in a horizontal or vertical direction. The first driving module 10 can be coupled to the plate supporting portion 40 on one side and the supporting portion 40 is seated on the bottom portion of the work space to support the articulated manipulator 1, Can be fixed. The structure of the first drive module 10 will be described later in more detail.

The second driving module 20 provides a rotational force about two axes orthogonal to each other and may be formed in a spherical shape and disposed on one side of the first driving module 10. [ In this case, the second driving module 20 may be arranged such that the axis thereof is perpendicular to the axis of the first driving module 10. The axis of the first drive module 10 and the axis of the second drive module 20 are arranged orthogonally to each other so that the articulated manipulator 1 can be easily deflected in the required working direction, Can be easily extended. The structure of the second drive module 20 will be described later in more detail.

The first driving module 10 and the second driving module 20 may be connected by a connection module 30. [

The connection module 30 includes a first connection part 31 and a second connection part 32 to which one of the first driving module 10 and the second driving module 20 is connected and the first connection part 31, The first driving module 10 or the second driving module 20 connected to the second connection part 32 may be orthogonal to the rotation axis of the first driving module 10 or the second driving module 20. In other words, the connection module 30 is bent at a predetermined angle, for example, perpendicularly, so that the normal lines of the first connection portion 31 and the second connection portion 32 are perpendicular to each other, and the first connection portion 31 and the second connection portion 32 The connection portions 32 may be formed on different surfaces. For example, the first connection part 31 may be formed on the outer side of the connection module 30, and the second connection part 32 may be formed on the inner side of the connection module 30. The first connecting portion 31 is formed on the outer side of the connecting module 30 and the second connecting portion 32 is formed on the inner side of the connecting module 30 so that the working range of the articulated manipulator 1 is only diagonally And it is possible to extend the working range of the articulated manipulator 1 in the vertical direction as shown in Fig.

However, the connection module 30 is not limited to the connection between the first driving module 10 and the second driving module 20, and the connection module 30 may be formed between the two first driving modules 10 Or may connect between the second drive module 20 and a work module (see 200 in FIG. 6).

The first driving module 10 and the second driving module 20 can independently provide rotational force about the respective axes and the second driving module 20 can provide rotational force independently about the two axes . Therefore, the articulated manipulator 1 can provide a turning force corresponding to the required working requirement, and can control the turning force more precisely.

On the other hand, the first drive module 10 includes one first drive unit 100a.

4, the first drive unit 100a includes a first drive unit 110a, a first braking unit 120a, a first deceleration unit 130a, a first control unit 140a, And includes a first encoder 150a, and can be accommodated inside the cylindrical first housing 160a.

The first driving part 110a rotates to provide the driving force, and the rotational axis for transmitting the driving force may be arranged in the same direction as the arrangement direction of the first driving module 10. [ That is, when the first driving module 10 is arranged in the horizontal direction, the first driving portion 110a can provide the driving force in the horizontal direction, and when the first driving module 10 is arranged in the vertical direction, 1 driver 110a may provide a driving force in a vertical direction. The first driving unit 110a may be controlled by the first braking unit 120a.

The first braking unit 120a restricts the rotation of the first driving unit 110a and may be mechanically or electrically connected to the first driving unit 110a. The first bending portion 120a may be formed separately on the outside of the first driving portion 110a or may be integrally formed inside the first driving portion 110a and may be connected to the rotating shaft of the first driving portion 110a, can do. A first control unit 140a may be connected to one side of the first braking unit 120a.

The first control unit 140a controls the first driving unit 110a and can control the first driving unit 110a through the first bending unit 120a. In other words, when the first control unit 140a provides an operation signal to the first braking unit 120a, the first braking unit 120a can mechanically or electrically control the rotation of the first driving unit 110a. The first control unit 140a may be exposed to the outside of the first housing 160a and may be accommodated in the adjacent connection module 30. The first control unit 140a may be disposed between the first control unit 140a and the first driving unit 110a, A first encoder 150a may be disposed between the first bending portion 140a and the first bending portion 120a.

The first encoder 150a is electrically connected to the first driver 110a and the first controller 140a to convert the physical information of the first driver 110a into an electrical signal and provide the electrical signal to the first controller 140a can do. For example, the first encoder 150a may convert information on the rotational speed, the rotational direction, etc. of the first driving unit 110a into electrical signals, and then output the information to the first controller 140a. However, the first encoder 150a is not limited to be disposed between the first control unit 140a and the first drive unit 110a, or between the first control unit 140a and the first braking unit 120a, For example, the first encoder 150a may be accommodated in the first driving unit 110a.

Meanwhile, the first decelerator 130a may be connected to one side of the first driving unit 110a. The first deceleration section 130a varies the rotation speed of the first driving section 110a and can be arranged to face the first braking section 120a. For example, when the first braking portion 120a is connected to one side of the first driving portion 110a, the first reducing portion 130a is connected to the other side opposite to the one side of the first driving portion 110a .

The first deceleration section 130a may increase the torque by reducing the rotation speed of the first driving section 110a and the rotation axis may be disposed on the same line as the rotation axis of the first driving section 110a. That is, the first deceleration unit 130a may be formed of a harmonic drive. Since the first deceleration section 130a is formed by the harmonic drive, the arrangement of the components can be facilitated and the internal space of the first housing 160a can be operated more efficiently, The articulated manipulator 1 can be miniaturized.

At least a part of the rotation axis of the first deceleration section 130a may be exposed to the outside of the first housing 160a and may be rotatably coupled to the connection module 30. [ In other words, the rotation axis of the first deceleration section 130a may be rotated by receiving the driving force of the first driving section 110a, and may provide rotational force to the connection module 30. The first housing 160a is fixed to the connection module 30 at one side close to the first braking portion 120a and rotatably connected to the other connection module 30 at the other side close to the first reduction portion 130a. The connection module 30 can be rotated from the first driving module 10 if the rotation axis of the first reduction portion 130a provides a rotational force to the connection module 30. [

Meanwhile, the second drive module 20 includes two second drive units 100b that are orthogonal to each other.

The second drive unit 100b includes a second drive unit 110b, a second braking unit 120b, a second deceleration unit 130b, a second control unit 140b, and a second encoder 150b. And can be received within the spherical second housing 160b.

The second driving part 110b rotates to provide a driving force, and may be disposed in a horizontal or vertical direction to provide a driving force. The second driving unit 110b may be controlled by the second shaking unit 120b.

The second braking unit 120b limits the rotation of the second driving unit 110b and may be mechanically or electrically connected to the second driving unit 110b. The second bending portion 120b may be formed separately on the outside of the second driving portion 110b or may be integrally formed on the inside of the second driving portion 110b and may be connected to the rotating shaft of the second driving portion 110b directly or indirectly So that the rotation can be restricted. When the second braking portion 120b is indirectly connected to the rotating shaft of the second driving portion 110b, a gear box 170b may be interposed between the second braking portion 120b and the second driving portion 110b. The gear box 170b can limit the rotation of the rotating shaft by converting the driving force of the second driving part 110b according to a predetermined gear ratio. The second control unit 140b may be connected to one side of the second braking unit 120b.

The second control unit 140b controls the second driving unit 110b and can control the second driving unit 110b through the second bending unit 120b. In other words, when the second control unit 140b provides an operation signal to the second bending unit 120b, the second bending unit 120b can mechanically or electrically control the rotation of the second driving unit 110b. The second control unit 140b may be accommodated in the second housing 160b and may be disposed between the second control unit 140b and the second drive unit 110b or between the second control unit 140b and the second control unit 120b A second encoder 150b may be disposed.

The second encoder 150b is electrically connected to the second driver 110b and the second controller 140b to convert the physical information of the second driver 110b into an electrical signal and provide the electrical signal to the second controller 140b can do. For example, the second encoder 150b may convert information about the rotational speed, the rotational direction, etc. of the second driving unit 110b into electrical signals, and then output the information to the second controller 140b. However, the second encoder 150b is not limited to being disposed between the second control unit 140b and the second drive unit 110b, or between the second control unit 140b and the second braking unit 120b, For example, the second encoder 150b may be accommodated in the second driving unit 110b.

Meanwhile, the second decelerator 130b may be connected to one side of the second driving unit 110b. The second deceleration section 130b varies the rotation speed of the second driving section 110b and can be arranged to face the second braking section 120b. For example, when the second braking unit 120b is connected to one side of the second driving unit 110b, the second reducing unit 130b is connected to the other side opposite to the one side of the second driving unit 110b .

The second deceleration section 130b can increase the torque by reducing the rotation speed of the second driving section 110b and the rotation axis can be disposed on the same line as the rotation axis of the second driving section 110b. That is, the second deceleration section 130b may be formed as a harmonic drive, like the first deceleration section 130a. Since the second deceleration section 130b is formed by the harmonic drive, it is possible to easily arrange the components and to more efficiently operate the inner space of the second housing 160b, The articulated manipulator 1 can be miniaturized.

At least a part of the rotation axis of the second deceleration portion 130b may be exposed to the outside of the second housing 160b to be rotatably coupled to the connection module 30. [ In other words, the rotation axis of the second deceleration section 130b is rotated by receiving the driving force of the second driving section 110b, and can provide the rotational force to the second driving module 20 or the connection module 30. Since the second housing 160b is rotatably coupled to the connection module 30 on both sides thereof, when the rotation axis of the second deceleration portion 130b rotates, the second drive module 20 rotates from the connection module 30 Or the connecting module 30 can be rotated from the second driving module 20.

The operation of the articulated manipulator 1 will now be described in more detail with reference to Fig.

5 is an operational view for explaining the operation of the articulated manipulator.

In the articulated manipulator 1 according to the embodiment of the present invention, a minimum number of modules can be assembled to realize various joint shapes. Therefore, it is possible to utilize it easily in a variety of fields due to reduced restrictions on use, and precision control can be performed, thereby improving production efficiency.

The articulated manipulator 1 is composed of a combination of a first drive module 10, a second drive module 20 and a connection module 30. The first and second drive modules 10 and 20, Or between the two first drive modules 10, the connection module 30 is disposed.

Hereinafter, the multi-joint manipulator 1 will be described in detail with reference to the first four drive modules 10a, 10b, 10c and 10d, one second drive module 20 and five connection modules 30a, 30b, 30c, 30d and 30e ) As shown in Fig.

The supporting part 40 is seated on the bottom part of the work space, and one side of the first driving module 10a is fixedly coupled to the supporting part 40 in the vertical direction. The connection module 30a is rotatably coupled to the other side of the first drive module 10a so that the connection module 30a is rotated from the first drive module 10a by receiving the rotational force of the first drive module 10a .

One side of the first driving module 10b is fixedly coupled to the other side of the connection module 30a in the horizontal direction. The connecting module 30b is rotatably coupled to the other side of the first driving module 10b so that the connecting module 30b is rotated from the first driving module 10b by receiving the rotational force of the first driving module 10b .

One side of the first drive module 10c is fixedly coupled to the other side of the connection module 30b in the vertical direction. The connection module 30c is rotatably coupled to the other side of the first drive module 10c so that the connection module 30c is rotated from the first drive module 10c by receiving the rotational force of the first drive module 10c .

One side of the first drive module 10d is fixedly coupled to the other side of the connection module 30c in the horizontal direction. The connection module 30d is rotatably coupled to the other side of the first drive module 10d so that the connection module 30d is rotated from the first drive module 10d by receiving the rotational force of the first drive module 10d .

One side of the second drive module 20 is rotatably coupled to the other side of the connection module 30d in the vertical direction so that the second drive module 20 can rotate from the connection module 30d. At the same time, since the connection module 30e is rotatably coupled to the other side of the second drive module 20, the connection module 30e receives the rotational force of the second drive module 20, As shown in Fig.

6 is a view showing the use state of the articulated manipulator.

The articulated manipulator 1 according to the embodiment of the present invention can be used by coupling a work module 200 required for a required operation to an end of a connection module 30 connected to a second drive module 20. The work module 200 may be, for example, a torch and a gun for welding, a paint gun for painting, a hand for handling, and a gun for handling.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the embodiments described above are in all respects illustrative and not restrictive.

1: articulated manipulator
10: first driving module 20: second driving module
30: connection module 31: first connection part
32: second connection part 40: support part
100a: first drive unit 110a: first drive unit
120a: first braking section 130a: first deceleration section
140a: first control section 150a: first encoder
160a: first housing
100b: second driving unit 110b: second driving unit
120b: second braking section 130b: second deceleration section
140b: second control section 150b: second encoder
160b: second housing 170b: gear box
200: Operation module

Claims (7)

At least one first drive module for providing a rotational force about one axis;
At least one second drive module for providing a rotational force about two axes orthogonal to each other; And
Wherein the first driving module and the second driving module each include a first connecting portion and a second connecting portion to which one of the first driving module and the second driving module is connected, And at least one connection module in which the rotation axes of the drive modules are orthogonal to each other. The articulated manipulator according to claim 1, wherein the connection module is formed such that the first connection portion and the second connection portion are formed on different surfaces, respectively, and the normal lines of the first connection portion and the second connection portion are formed to be perpendicular to each other. 3. The apparatus of claim 2, wherein the first drive module and the second drive module provide rotational force independently of each other,
Wherein the second drive module independently provides rotational force about the two axes. 3. The apparatus of claim 2, wherein the first drive module includes one first drive unit,
The first drive unit includes:
A first driving unit for rotating and providing a driving force,
A first shunt for restricting the rotation of the first driving unit,
A first deceleration unit connected to the first driving unit and varying a rotation speed of the first driving unit; And
And a first controller connected to the first braking unit to control the first driving unit. The articulated manipulator according to claim 4, wherein the rotation axis of the first deceleration portion is disposed on the same line as the rotation axis of the first driving portion. 3. The apparatus of claim 2, wherein the second drive module includes two second drive units,
And the second drive unit includes:
A second driving unit that rotates to provide a driving force,
A second shunt section for restricting rotation of the second driving section,
A second deceleration unit connected to the second driving unit and varying a rotation speed of the second driving unit; And
And a second controller connected to the second braking unit to control the second driving unit. The articulated manipulator according to claim 6, wherein the rotation axis of the second deceleration portion is arranged on the same line as the rotation axis of the second driving portion.
KR1020150156105A 2015-11-06 2015-11-06 Multi-joint manipulator KR20170053499A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019096923A3 (en) * 2017-11-15 2019-06-20 Universal Robots A/S Strain wave gear
KR20200040814A (en) * 2017-08-31 2020-04-20 카와사키 주코교 카부시키 카이샤 Articulated robot
WO2021144968A1 (en) * 2020-01-17 2021-07-22 ヤマハ発動機株式会社 Biaxial integrated module and multi-joint robot arm device
EP4063693A1 (en) * 2021-03-25 2022-09-28 Universal Robots A/S Strain wave gear with encoder integration
US11964389B2 (en) 2017-11-15 2024-04-23 Universal Robots A/S Strain wave gear with output flange and integrated encoder

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200040814A (en) * 2017-08-31 2020-04-20 카와사키 주코교 카부시키 카이샤 Articulated robot
EP3677390A4 (en) * 2017-08-31 2021-08-18 Kawasaki Jukogyo Kabushiki Kaisha Articulated robot
US11331816B2 (en) 2017-08-31 2022-05-17 Kawasaki Jukogyo Kabushiki Kaisha Articulated robot
WO2019096923A3 (en) * 2017-11-15 2019-06-20 Universal Robots A/S Strain wave gear
KR20200086270A (en) * 2017-11-15 2020-07-16 유니버셜 로보츠 에이/에스 Strain wave gear
CN111615602A (en) * 2017-11-15 2020-09-01 优傲机器人公司 Strain wave gear
US11964389B2 (en) 2017-11-15 2024-04-23 Universal Robots A/S Strain wave gear with output flange and integrated encoder
WO2021144968A1 (en) * 2020-01-17 2021-07-22 ヤマハ発動機株式会社 Biaxial integrated module and multi-joint robot arm device
EP4063693A1 (en) * 2021-03-25 2022-09-28 Universal Robots A/S Strain wave gear with encoder integration
US11796045B2 (en) 2021-03-25 2023-10-24 Universal Robots A/S Strain wave gear with encoder integration

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