Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-28T04:48:28.462Z Has data issue: false hasContentIssue false
  • English
  • Français

A high torque to weight ratio robot actuator*

Published online by Cambridge University Press:  09 March 2009

James E. Bobrow  and
Jayesh Desai
James E. Bobrow
Affiliation:
Mechanical and Aerospace Engineering, University of California, Irvine, CA 92717 (USA)
Jayesh Desai
Affiliation:
Mechanical and Aerospace Engineering, University of California, Irvine, CA 92717 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

A light-weight, high-torque actuator with accurate torque control capability is described. The actuator uses a small hydrostatic transmission to achieve the advantage of large gear reduction from a high speed DC motor, and retains accurate joint torque sensing and control capabilities with no backlash. A disadvantage of the actuator is that is introduces extra dynamics which must be accounted for in robot control systems. It is shown that state feedback enables closed loop control of joint torque, with full back drivability, through an effective gear ratio of 485:1 for the experimental system. The actuator can therefore be used for both position control and output force control, which is essential for modern robot control algorithms. A mathematical model of the system is presented in this paper along with experimental results.

Keywords

Robot actuatorTorque controlHydrostatic transmissionState feedback
Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 201 - 208
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Asada, H. and Youcef-Toumi, K., “Analysis and Design of a Direct-Drive Arm With a Five Bar Link Parallel Drive Mechanism” ASME J. Dynamic Systems, Measurement, and Control 106, No. 3, 225–230 (1984).CrossRefGoogle Scholar
2.Legnani, G. and Faglia, R., “Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behavior of an actual SCARA robot” Robotica 10, 369–375 (1992).CrossRefGoogle Scholar
3.Luh, J. Y. S., Fisher, W. D. and Paul, R. P., “Joint Torque Control by Direct Feedback for Industrial Robots” Proc. IEEE Conference on Decision and Control, San Diego, CA(1981) pp. 265–271.Google Scholar
4.Wu, C. H., “Compliance Control of a Robot Manipulator Based on Joint Torque Servo” Int. J. Robotics Research 4, No. 3, 55–71 (1985).CrossRefGoogle Scholar
5.Blackburn, J. F., Reethof, G. and Shearer, J. J., Fluid Power Control (Wiley, New York 1960).Google Scholar
6.Maskrey, R. H. and Thayer, W. J., “A Brief History of Electrohydraulic Servomechanisms” ASME J. Dynamic Systems, Measurement, and Control 100, No. 2, 110–116 (1978).CrossRefGoogle Scholar
7.Waldron, K. J., Vohnout, V. J., Pery, A. and McGhee, R. B., “Configuration Design of the Adaptive Suspension Vehicle” Int. J. Robotics Research 3, No. 2, 37–47 (1984).CrossRefGoogle Scholar
8.Wells, D. L., Iverson, E. K., Davis, C. C. and Jacobsen, S. C., “An Investigation of Hydraulic Actuator PerformanceTrade-offs Using a Generic Model” Proc. of the 1990 IEEE International Conference on Robotics and Automation Cincinnati, Ohio, Vol. 3 (1990) pp. 2168–2173.Google Scholar
9.Parker Hannifin Inc., Hydraulic and Pneumatic Rotray Actuators” Catalog 1800–1 (Cylinder Division, Des Plaines IL, 1985).Google Scholar
10.Merrit, E. H., Hydraulic Control Systems (Wiley, New York, 1967).Google Scholar