On the conceptual design of redundant-drive backlash-free geared robot manipulators

A systematic methodology for the conceptual design of redundant-drive backlash-free geared robot manipulators (GRMs) is presented. A GRM is considered as a combination of an equivalent open-loop chain (EOLC) and several mechanical transmission lines (MTLs), and each MTL of a series of non-fractionated units. It is shown that these units can be categorized into three family trees according to their motion types. According to the trees, MTLs can be enumerated and be classified as basic and derived MTLs. Based on the atlas of MTLs, graph and functional representations of admissible redundant-drive backlash-free GRMs can be created according to the specified form of structure matrix. It is believed that the enumerated results can expand the application of such mechanisms.