DocumentCode
3180470
Title
Experimental evaluation of a new traction-drive robotic transmission
Author
Newman, Wyatt S. ; Zhang, Yuandao ; Anderson, William J. ; Shipitalo, William
Author_Institution
Case Western Reserve Univ., Cleveland, OH, USA
fYear
1992
fDate
12-14 May 1992
Firstpage
652
Abstract
A novel roller-gear traction drive has been designed, built, and evaluated for use in a robot joint. The drive incorporates steel rollers integrated with precision gearing in parallel. Evaluation of a 23.2:1 ratio, 300-W, 26-N-m output torque, prototype drive is presented. Due to the relatively high stiffness, zero backlash, smooth torque production, and back-drivability, the transmission permits smooth motion control and exceptionally good performance under closed-loop output torque control. Under impedance control, the drive is shown to be responsive to external torques, yet is stable upon impact with rigid environments
Keywords
drives; position control; robots; torque control; closed-loop output torque control; impedance control; motion control; robot joint; robotic transmission; roller-gear traction drive; Design automation; Feedback; Forging; Friction; Intelligent robots; Physics; Robotics and automation; Torque control; Traction motors; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220218
Filename
220218
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