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Title: Anti-backlash drive systems for multi-degree freedom devices

Abstract

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.

Inventors:
 [1];  [2]
  1. (Potomac, MD)
  2. (Hyattsville, MD)
Issue Date:
Research Org.:
University of Maryland (College Park, MD)
OSTI Identifier:
868922
Patent Number(s):
5245263
Assignee:
University of Maryland (College Park, MD) ORO
DOE Contract Number:  
FG05-88ER13977
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
anti-backlash; drive; systems; multi-degree; freedom; devices; innovative; concept; control; backlash; gear-coupled; transmission; mechanisms; utilizes; redundant; unidirectional; drives; assure; positive; coupling; gear; meshes; times; based; methodology; enumeration; admissible; redundant-drive; backlash-free; robotic; established; typical; two-; three-dof; disclosed; furthermore; actuator; torques; derived; functions; joint; end-effector; dynamic; performance; requirements; redundantly; driven; coupled; mechanism; manipulator; fail-safe; advantage; loss; function; actuators; fails; two-dof; arm; reduced; practice; demonstrate; principle; drive systems; coupled transmission; /318/700/901/

Citation Formats

Tsai, Lung-Wen, and Chang, Sun-Lai. Anti-backlash drive systems for multi-degree freedom devices. United States: N. p., 1993. Web.
Tsai, Lung-Wen, & Chang, Sun-Lai. Anti-backlash drive systems for multi-degree freedom devices. United States.
Tsai, Lung-Wen, and Chang, Sun-Lai. Fri . "Anti-backlash drive systems for multi-degree freedom devices". United States. https://www.osti.gov/servlets/purl/868922.
@article{osti_868922,
title = {Anti-backlash drive systems for multi-degree freedom devices},
author = {Tsai, Lung-Wen and Chang, Sun-Lai},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1993},
month = {1}
}

Patent:

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