In this paper, we introduce a new and innovative concept for the control of backlash in gear-coupled robotic 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 have been sketched. Furthermore, actuator torques have been derived as functions of either joint torques or end-effector dynamic performance requirements. A redundantly driven manipulator has the fail-safe advantage in that, except for the loss of backlash control, it can continue to function when one of its actuators fails. It does not have the compliance problem associated with tendon-driven manipulators. A two-DOF backlash-free experimental arm is currently under construction to demonstrate the principle.
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June 1993
Research Papers
On the Redundant-Drive Backlash-Free Robotic Mechanisms
Sun-Lai Chang,
Sun-Lai Chang
Mechanical Engineering Department and Systems Research Center, The University of Maryland, College Park, MD 20742
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Lung-Wen Tsai
Lung-Wen Tsai
Mechanical Engineering Department and Systems Research Center, The University of Maryland, College Park, MD 20742
Search for other works by this author on:
Sun-Lai Chang
Mechanical Engineering Department and Systems Research Center, The University of Maryland, College Park, MD 20742
Lung-Wen Tsai
Mechanical Engineering Department and Systems Research Center, The University of Maryland, College Park, MD 20742
J. Mech. Des. Jun 1993, 115(2): 247-254 (8 pages)
Published Online: June 1, 1993
Article history
Received:
March 1, 1990
Online:
June 2, 2008
Citation
Chang, S., and Tsai, L. (June 1, 1993). "On the Redundant-Drive Backlash-Free Robotic Mechanisms." ASME. J. Mech. Des. June 1993; 115(2): 247–254. https://doi.org/10.1115/1.2919184
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