A novel Differential Modular Robot Joint — Design and implementation

Author

Keke Wang ; Huihuan Qian ; Yong Yang ; Yangsheng Xu

Author_Institution

Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China

fYear

2013

fDate

12-14 Dec. 2013

Firstpage

2049

Lastpage

2054

Abstract

This paper presents a novel Differential Modular Robot Joint (DMRJ), which has high payload capability and low weight. The ratio between the output torque and the reducer´s weight is 178.3 Nm/kg, which is the highest value we have known. The DMRJ is designed modularly for high payload tasks and can be attached to robots as arms or legs. Two high power DC brush motors are applied to drive the differential mechanism, which can rotate in two degrees of freedom (DOF) and has a minimal size. A control algorithm for the DMRJ has been devised in accordance with the kinematic and mechanical analysis. A prototype of the DMRJ has been manufactured, and the effectiveness of the control algorithm has been verified by several experiments. Thanks to its excellent performance, the DMRJ can be widely utilized in many robotic applications.

Keywords

DC motors; design engineering; robot kinematics; torque control; DMRJ; DOF; control algorithm; degrees of freedom; differential mechanism; differential modular robot joint design; high payload capability; high power DC brush motors; kinematic analysis; mechanical analysis; output torque; payload tasks; reducer weight; robotic applications; Equations; Gears; Joints; Service robots; Servomotors; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ROBIO.2013.6739771

Filename

6739771