Title :
Design of a servomanipulator with tendon transmission
Author :
Lee, Jong Kwang ; Choi, Chang Hwan ; Yoon, Kwang Ho ; Park, Byung Suk ; Yoon, Ji Sup
Author_Institution :
Fuel Cycle Syst. Eng. Technol. Dev. Div., KAERI, Daejeon
Abstract :
This paper describes a master-slave servomanipulator with a tendon transmission, which was designed to overcome the limited workspace of the conventional mechanical master-slave manipulators. The tendon transmission greatly reduces the weight and friction, and it also allows us to realize a zero-backlash reduction. However, it causes a motion coupling problem due to an unwanted motion interference at the joints. In this work, we solve this problem through a novel motion decoupling mechanism.
Keywords :
manipulators; servomechanisms; master-slave servomanipulator; motion coupling problem; motion decoupling mechanism; tendon transmission; unwanted motion interference; zero-backlash reduction; Argon; Control systems; Design engineering; Friction; Gears; Master-slave; Nuclear fuels; Remote handling; Tendons; Torque; Motion-decoupling; servomanipulator; tendon transmission;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694497
