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Experimental evaluation of a new traction-drive robotic transmission

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4 Author(s)
Newman, W.S. ; Case Western Reserve Univ., Cleveland, OH, USA ; Yuandao Zhang ; Anderson, W.J. ; Shipitalo, W.

A novel roller-gear traction drive has been designed, built, and evaluated for use in a robot joint. The drive incorporates steel rollers integrated with precision gearing in parallel. Evaluation of a 23.2:1 ratio, 300-W, 26-N-m output torque, prototype drive is presented. Due to the relatively high stiffness, zero backlash, smooth torque production, and back-drivability, the transmission permits smooth motion control and exceptionally good performance under closed-loop output torque control. Under impedance control, the drive is shown to be responsive to external torques, yet is stable upon impact with rigid environments

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992