The Effect of Transmission Design on Force-Controlled Manipulator Performance

Title: en_US The Effect of Transmission Design on Force-Controlled Manipulator Performance
Creator: en_US Townsend, William T. (William Thomas)
Date: 2004-10-20T20:00:50Z
Date Available: 2004-10-20T20:00:50Z
Date Issued: en_US 1988-04-01
Identifier: en_US AITR-1054
uri: http://hdl.handle.net/1721.1/6835
Abstract: en_US Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction in the transmission mechanisms of a manipulator. A set of requisites for high performance then guides the development of mechanical-design and servo strategies for improved performance. A single-degree-of-freedom transmission testbed was constructed that confirms the predicted effect of Coulomb friction on robustness; design and construction of a cable-driven, four-degree-of- freedom, "whole-arm" manipulator illustrates the recommended design strategies.
Extent: en_US 111 p.; 11025394 bytes; 4305709 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1054
Subject: en_US whole-armsmanipulation(WAM); en_US force control; en_US transmission; en_US manipulator; en_US robotic arm; en_US design