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Traction-drive force transmission for telerobotic joints (Document No: 19890014535)
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Kuban, D. P. Williams, D. M. |
| Copyright Year | 1989 |
| Description | A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described. |
| File Size | 1037515 |
| Page Count | 16 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19890014535 |
| Archival Resource Key | ark:/13960/t3zs7n78r |
| Language | English |
| Publisher Date | 1989-03-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Equipment Specifications Robot Control Systems Engineering Automatic Control Manipulators Mechanical Devices Robotics Remote Control Telerobotics Transmissions Machine Elements Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
