发明名称 |
Anti-backlash drive systems for multi-degree freedom devices |
摘要 |
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.
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申请公布号 |
US5245263(A) |
申请公布日期 |
1993.09.14 |
申请号 |
US19910760014 |
申请日期 |
1991.09.13 |
申请人 |
UNIVERSITY OF MARYLAND |
发明人 |
TSAI, LUNG-WEN;CHANG, SUN-LAI |
分类号 |
B25J9/04;B25J9/10;B25J9/18 |
主分类号 |
B25J9/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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