NDLI: Joint actuation based on highly dynamic torque transmission elements

Content Provider	IEEE Xplore Digital Library
Author	Kubus, D. Inkermann, D. Vietor, T. Wahl, F.M.
Copyright Year	2011
Description	Author affiliation: Institut für Robotik und Prozessinformatik, Technische Universität Braunschweig, Germany (Kubus, D.; Wahl, F.M.) \|\| Institut für Konstruktionstechnik, Technische Universität Braunschweig, Germany (Inkermann, D.; Vietor, T.)
Abstract	Electric motors clearly constitute the most common drive principle in robotics and mechatronics. Smart materials, however, offer considerably higher power-to-mass ratios than electric motors. If mechanical energy instead of electrical energy can be distributed through a system, highly dynamic and efficient torque transmission elements based on smart materials, e.g. piezoceramics, can be used to transmit torque from an input to an output element. Just like electric motors, they can thus provide position, velocity, and force-torque control of the output element. This paper introduces machine components, called adaptronic couplers, which can transmit variable torques highly dynamically from an input element to an output element employing static and/or dynamic friction. In the long run, systems (e.g. robots) based on these machine components are envisaged to compete with systems based on classic drive principles - especially electric motors - w.r.t. dynamics and power-to-mass-ratio. Apart from the concept itself, this paper addresses different control approaches and discusses their influence on energy consumption and wear. Moreover, various experimental results proving the basic concept are presented.
Starting Page	2777
Ending Page	2784
File Size	665071
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980292
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Actuators Shafts Joints Torque Force Robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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