Electricity: motive power systems – Positional servo systems – With particular 'error-detecting' means
Patent
1993-08-17
1995-10-10
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
With particular 'error-detecting' means
341 2, 25023115, H03M 122
Patent
active
054573718
ABSTRACT:
A binary locally-initializing incremental position encoder (112) for determining the position of an object, i.e. a robot arm (102). The inventive position encoder (112) is adapted to be coupled to the object (102) and includes first, second, third and fourth gears (129, 130, 131 and 132, respectively). The gears are such that the positions thereof, representing the positions or states of the object, repeat at binary intervals. That is, the first gear (129) has a first number of teeth N.sub.1 and the second gear (130) has a second number of teeth N.sub.2. The second gear (130) is driven by the first gear (129) from a first position to a second position. The third gear (131) is mechanically coupled to and coaxial with the second gear (130). The third gear (131) has a third number of teeth N.sub.3 and is adapted for rotation in direct angular proportion to any rotation of the second gear (130). The fourth gear (132) has a fourth number of teeth N.sub.4 and is driven by the third gear (131). In a specific implementation, each set of gears includes one gear that has a binary number of teeth. The invention also provides a method for designing a position encoder which repeats after an arbitrary predetermined nonprime number of revolutions.
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I & CS, Absolute Encoders Find Increased Application, Greg Wolf & Francis Dy, Feb., 1989, pp. 67-69.
Hewlett -Packard Company
Shoop Jr. William M.
Sircus Brian
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