Anti-backlash drive systems for multi-degree freedom devices
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.
- DOE Contract Number:
- FG05-88ER13977
- Assignee:
- Univ. of Maryland, College Park, MD (United States)
- Patent Number(s):
- A; US 5245263
- Application Number:
- PPN: US 7-760014
- OSTI ID:
- 5302129
- Country of Publication:
- United States
- Language:
- English
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