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Title: Traction-drive transmission for telerobotic joints

Abstract

The US Space Station Program is providing many technological developments to meet the increasing demands of designing such a facility. One of the key areas of research is that of telerobotics for space station assembly and maintenance. Initial implementation will be teleoperated, but long-term plans call for autonomous robotics. One of the essential components for making this transition successful is the manipulator joints mechanism. Historically, teleoperated manipulators and industrial robotics have had very different mechanisms for force transmission. This is because the design objectives are almost mutually exclusive. A teleoperator must have very low friction and inertia to minimize operator fatigue; backlash and stiffness are of secondary concern. A robot, however, must have minimum backlash, and high stiffness for accurate and rapid positioning. A joint mechanism has yet to be developed that can optimize these divergent performance objectives. A joint mechanism that approaches this optimal performance was developed for NASA Langley, Automation Technology Branch. It is a traction-drive differential that uses variable preload mechanisms. The differential provides compact, dexterous motion range with a torque density similar to geared systems. The traction drive offers high stiffness and zero backlash---for good robotic performance, and the variable-loading mechanism (VLM) minimizes the drive-train friction---formore » improved teleoperation. As a result, this combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. This paper will address the design principles of both of these major components of the joint mechanism. 4 refs., 8 figs.« less

Authors:
;
Publication Date:
Research Org.:
Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
OSTI Identifier:
6179803
Report Number(s):
CONF-890571-1
ON: DE89005337
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: 23. aerospace mechanisms symposium, Huntsville, AL, USA, 3 May 1989; Other Information: Portions of this document are illegible in microfiche products
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; MECHANICAL TRANSMISSIONS; DESIGN; ENGINEERING DRAWINGS; JOINTS; PERFORMANCE; REMOTE CONTROL; ROBOTS; CONTROL; DIAGRAMS; EQUIPMENT; LABORATORY EQUIPMENT; MACHINE PARTS; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT; 420200* - Engineering- Facilities, Equipment, & Techniques

Citation Formats

Kuban, D P, and Williams, D M. Traction-drive transmission for telerobotic joints. United States: N. p., 1989. Web.
Kuban, D P, & Williams, D M. Traction-drive transmission for telerobotic joints. United States.
Kuban, D P, and Williams, D M. 1989. "Traction-drive transmission for telerobotic joints". United States. https://www.osti.gov/servlets/purl/6179803.
@article{osti_6179803,
title = {Traction-drive transmission for telerobotic joints},
author = {Kuban, D P and Williams, D M},
abstractNote = {The US Space Station Program is providing many technological developments to meet the increasing demands of designing such a facility. One of the key areas of research is that of telerobotics for space station assembly and maintenance. Initial implementation will be teleoperated, but long-term plans call for autonomous robotics. One of the essential components for making this transition successful is the manipulator joints mechanism. Historically, teleoperated manipulators and industrial robotics have had very different mechanisms for force transmission. This is because the design objectives are almost mutually exclusive. A teleoperator must have very low friction and inertia to minimize operator fatigue; backlash and stiffness are of secondary concern. A robot, however, must have minimum backlash, and high stiffness for accurate and rapid positioning. A joint mechanism has yet to be developed that can optimize these divergent performance objectives. A joint mechanism that approaches this optimal performance was developed for NASA Langley, Automation Technology Branch. It is a traction-drive differential that uses variable preload mechanisms. The differential provides compact, dexterous motion range with a torque density similar to geared systems. The traction drive offers high stiffness and zero backlash---for good robotic performance, and the variable-loading mechanism (VLM) minimizes the drive-train friction---for improved teleoperation. As a result, this combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. This paper will address the design principles of both of these major components of the joint mechanism. 4 refs., 8 figs.},
doi = {},
url = {https://www.osti.gov/biblio/6179803}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Jan 01 00:00:00 EST 1989},
month = {Sun Jan 01 00:00:00 EST 1989}
}

Conference:
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