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:
-
- Potomac, MD
- 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)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
- 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 = {Fri Jan 01 00:00:00 EST 1993},
month = {Fri Jan 01 00:00:00 EST 1993}
}
Works referenced in this record:
Topological synthesis of articulated gear mechanisms
journal, January 1990
- Chang, S. -L.; Tsai, L. -W.
- IEEE Transactions on Robotics and Automation, Vol. 6, Issue 1