Anti-backlash drive systems for multi-degree freedom devices

Patent · Thu Dec 31 23:00:00 EST 1992

OSTI ID:868922

Tsai, Lung-Wen ^[1]; Chang, Sun-Lai ^[2]

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1. Potomac, MD
2. Hyattsville, MD

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.

• Research Organization: University of Maryland (College Park, MD)
• DOE Contract Number: FG05-88ER13977
• Assignee: University of Maryland (College Park, MD)
• Patent Number(s): US 5245263
• OSTI ID: 868922
• Country of Publication: United States
• Language: English

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/318/700/901/
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