Title :
Design and testing of a prototype transmission-based robot servoactuator
Author :
Hamel, W.R. ; Sewoong Kim ; Zhou, Rui ; Lumsdaine, A.
Author_Institution :
Mech. Aerosp. & Biomed. Eng. Dept., Tennessee Univ., Knoxville, TN, USA
fDate :
April 26-May 1, 2004
Abstract :
A novel actuator concept has been developed and prototyped. By integrating a multi-speed transmission with a high performance permanent magnet DC servomotor, it has been shown that an electrical drive can provide power/torque density and physical size that approaches the capabilities of electrohydraulics. Preliminary experimental tests of the prototype are encouraging and the first steps toward verifying the concept.
Keywords :
DC motor drives; actuators; permanent magnet motors; position control; robots; servomotors; variable speed drives; electrical drive; electrohydraulics; multispeed transmission; permanent magnet DC servomotor; position control; power density; prototype transmission based robot servoactuator; torque density; Actuators; Automatic control; Biomedical engineering; DC motors; Gears; Prototypes; Robots; Solenoids; Testing; Torque;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308817
