On the conceptual design of redundant-drive backlash-free geared robot manipulators

被引：7

作者：

Chen, DZ ^{[1
]}

Liu, CP ^{[1
]}

Duh, DW ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Mech Engn, Taipei 10617, Taiwan

来源：

MECHANISM AND MACHINE THEORY | 2002年 / 37卷 / 01期

关键词：

geared robot manipulator; redundant-drive manipulator; conceptual design; backlash;

D O I：

10.1016/S0094-114X(01)00061-1

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A systematic methodology for the conceptual design of redundant-drive backlash-free geared robot manipulators (GRMs) is presented. A GRM is considered as a combination of an equivalent open-loop chain (EOLC) and several mechanical transmission lines (MTLs), and each MTL of a series of non-fractionated units, It is shown that these units can be categorized into three family trees according to their motion types. According to the trees, MTLs can be enumerated and be classified as basic and derived MTLs. Based on the atlas of MTLs, graph and functional representations of admissible redundant-drive backlash-free GRMs can be created according to the specified form of structure matrix. It is believed that the enumerated results can expand the application of such mechanisms. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：3 / 14

页数：12

共 14 条

[1]

BELFIORE NP, 1993, INT J ROBOT RES, V12, P448, DOI 10.1177/027836499301200505

[2]

BELFIORE NP, 1991, P 2 NAT C APPL MECH

[3] SYNTHESIS OF KINEMATIC STRUCTURE OF GEARED KINEMATIC CHAINS AND OTHER MECHANISMS [J].