Anti-backlash drive systems for multi-degree freedom devices
Abstract
A new and innovative concept is described 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. 20 figures.
- Inventors:
- Issue Date:
- OSTI Identifier:
- 5302129
- Patent Number(s):
- 5245263
- Application Number:
- PPN: US 7-760014
- Assignee:
- Univ. of Maryland, College Park, MD (United States)
- DOE Contract Number:
- FG05-88ER13977
- Resource Type:
- Patent
- Resource Relation:
- Patent File Date: 13 Sep 1991
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; MANIPULATORS; MECHANICAL TRANSMISSIONS; DESIGN; ROBOTS; DEGREES OF FREEDOM; OPERATION; EQUIPMENT; LABORATORY EQUIPMENT; MACHINE PARTS; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT; 420200* - Engineering- Facilities, Equipment, & Techniques
Citation Formats
Tsai, Lungwen, and Sunlai, Chang. Anti-backlash drive systems for multi-degree freedom devices. United States: N. p., 1993.
Web.
Tsai, Lungwen, & Sunlai, Chang. Anti-backlash drive systems for multi-degree freedom devices. United States.
Tsai, Lungwen, and Sunlai, Chang. Tue .
"Anti-backlash drive systems for multi-degree freedom devices". United States.
@article{osti_5302129,
title = {Anti-backlash drive systems for multi-degree freedom devices},
author = {Tsai, Lungwen and Sunlai, Chang},
abstractNote = {A new and innovative concept is described 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. 20 figures.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Sep 14 00:00:00 EDT 1993},
month = {Tue Sep 14 00:00:00 EDT 1993}
}