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
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;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220218
