Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton; Dabling, Jeffrey; Blada, Timothy; Dullea, Kevin; Kuehl, Michael; Buerger, Stephen P.

doi:10.1109/LRA.2016.2646259

Title: Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

Abstract

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuated bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.

Authors:

Mazumdar, Anirban ^[1]; Spencer, Steven James ^[2]; Hobart, Clinton ^[2]; Dabling, Jeffrey ^[2]; Blada, Timothy ^[2]; Dullea, Kevin ^[2]; Kuehl, Michael ^[2]; Buerger, Stephen P. ^[2]

Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). High Consequence Automation and Robotics
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). High Consequence Automation and Robotics

Publication Date:: Thu Jan 05 00:00:00 EST 2017

Research Org.:: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Sponsoring Org.:: USDOE National Nuclear Security Administration (NNSA); Defense Advanced Research Projects Agency (DARPA)

OSTI Identifier:: 1340266

Report Number(s):: SAND2016-12664J
Journal ID: ISSN 2377-3774; 649951

Grant/Contract Number:: AC04-94AL85000

Resource Type:: Accepted Manuscript

Journal Name:: IEEE Robotics and Automation Letters

Additional Journal Information:: Journal Volume: 2; Journal Issue: 2; Journal ID: ISSN 2377-3774

Publisher:: IEEE

Country of Publication:: United States

Language:: English

Subject:: 42 ENGINEERING

Citation Formats


                    Mazumdar, Anirban, Spencer, Steven James, Hobart, Clinton, Dabling, Jeffrey, Blada, Timothy, Dullea, Kevin, Kuehl, Michael, and Buerger, Stephen P. Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications.  United States: N. p., 2017. 
Web.  doi:10.1109/LRA.2016.2646259.

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                    Mazumdar, Anirban, Spencer, Steven James, Hobart, Clinton, Dabling, Jeffrey, Blada, Timothy, Dullea, Kevin, Kuehl, Michael, & Buerger, Stephen P. Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications.  United States.  https://doi.org/10.1109/LRA.2016.2646259

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                    Mazumdar, Anirban, Spencer, Steven James, Hobart, Clinton, Dabling, Jeffrey, Blada, Timothy, Dullea, Kevin, Kuehl, Michael, and Buerger, Stephen P. Thu .  
"Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications".  United States.  https://doi.org/10.1109/LRA.2016.2646259.  https://www.osti.gov/servlets/purl/1340266.

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@article{osti_1340266,

  title        = {Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications},

  author       = {Mazumdar, Anirban and Spencer, Steven James and Hobart, Clinton and Dabling, Jeffrey and Blada, Timothy and Dullea, Kevin and Kuehl, Michael and Buerger, Stephen P.},

  abstractNote = {Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuated bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.},

  doi          = {10.1109/LRA.2016.2646259},

  journal      = {IEEE Robotics and Automation Letters},

  number       = 2,

  volume       = 2,

  place        = {United States},

  year         = {Thu Jan 05 00:00:00 EST 2017},

  month        = {Thu Jan 05 00:00:00 EST 2017}

}

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Works referencing / citing this record:

Estimation of the Longitudinal Elasticity Modulus of Braided Synthetic Fiber Rope Utilizing Classical Laminate Theory with the Unit N/tex
journal, July 2018

Sry, Vannei; Mizutani, Yoshihiro; Endo, Gen
Applied Sciences, Vol. 8, Issue 7
DOI: 10.3390/app8071096

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Similar Records

Title: Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

Abstract

Citation Formats

Estimation of the Longitudinal Elasticity Modulus of Braided Synthetic Fiber Rope Utilizing Classical Laminate Theory with the Unit N/tex journal, July 2018

Estimation of the Longitudinal Elasticity Modulus of Braided Synthetic Fiber Rope Utilizing Classical Laminate Theory with the Unit N/tex
journal, July 2018