Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1991-09-13
1993-09-14
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318 46, 31856821, 31856811, 901 9, 901 22, 395 80, B25J 900
Patent
active
052452638
ABSTRACT:
A new and innovative concept for the control of backlash in gear-coupled transmission mechanisms. The concept utilizes redundant unidirectional drives to assure positive coupling of gear meshes at all times. Based on this concept, a methodology for the enumeration of admissible redundant-drive backlash-free robotic mechanisms has been established. Some typical two- and three-DOF mechanisms are disclosed. Furthermore, actuator torques have been derived as functions of either joint torques or end-effector dynamic performance requirements. A redundantly driven gear coupled transmission mechanism manipulator has a fail-safe advantage in that, except of the loss of backlash control, it can continue to function when one of its actuators fails. A two-DOF backlash-free arm has been reduced to practice to demonstrate the principle.
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Chang, S. & Tsai, L., "Topological Synthesis of Articulated Gear Mechanisms," IEEE Transactions on Robotics & Automation, vol. 6, No. 1 pp. 97-103, Feb. 1990.
Chang Sun-Lai
Tsai Lung-Wen
Ip Paul
Sears Christopher N.
University of Maryland
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