By Topic

Scaling direct drive robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Wallace, R.S. ; Courant Inst. of Math. Sci., New York Univ., NY, USA ; Selig, J.M.

Recent experimental and analytical evidence indicates that direct drive robots become very practical and economical at miniature and microscopic scales, so it is interesting to understand quantitatively the properties of direct drive robots under scaling transformations. This leads to a study of how screws and their dual co-screws behave under the group of similarity transforms. This group is the group of isometries together with dilations. Several different representations are found on the space of screws and complementary representations are found on the dual space of co-screws. From the electromagnetic theory of the force and torque on a magnet in a magnetic field, we derive the scaling properties of the electromagnetic wrench. Hence, these results can be directly applied to the scaling of direct drive motors (A. Haruhiko and K. Youcef-Toumi, 1986). We conclude by proposing a scale invariant measure for direct drive actuator performance

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995