By Haruhiko Asada, Kamal Youcef-Toumi
This ebook describes the layout thought and discusses the regulate concerns on the topic of the functionality of a direct-drive robotic, particularly, a direct-drive mechanical arm able to wearing as much as 10 kilograms, at 10 meters in step with moment, accelerating at five G (a unit of acceleration equivalent to the acceleration of gravity). those are extraordinary achievements in comparison to present business robots that movement with speeds at the order of one meter consistent with moment. Direct-Drive robotic offers the most up-tp-date learn in manipulator layout and keep an eye on, emphasizing the high-performance direct-drive robotic arm within which the shafts of articulated joints are at once coupled to the rotors of vehicles with excessive torque. It describes primary applied sciences of key elements equivalent to automobiles, amplifiers and sensors, arm linkage layout, and regulate process layout, and makes major contributions within the parts of strength potency research, dynamic mass balancing, and decoupling conception. The publication presents an exceptional stability among concept and perform, protecting the sensible layout and implementation of this certain robotic in addition to the theoretical layout instruments. Contents: half I: Direct-Drive applied sciences. advent. parts. half II: Arm layout thought. energy potency. Arm layout for Simplified Dynamics. Actuator Relocation. layout of Decoupled Arm buildings. half III: improvement of the MIT Arm. Mechanisms. keep watch over structures. half IV: chosen Papers on Direct-Drive robotic layout and keep an eye on. Haruhiko Asada is an affiliate Professor, Kyoto collage, and Lecturer at MIT He has equipped prototypes of the direct-drive arm defined the following. Kamal Youcef-Toumi is an Assistant Professor, division of Mechanical Engineering, approach Dynamics and Controls department at MIT. He has labored for 3 years with Asada at the improvement of the MIT excessive velocity directdrive robotic.
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Extra info for Direct-Drive Robots: Theory and Practice
0254 mm. Both specifications are an order-of-magnitude better than traditional robots with gear reducers. The motors used for the AdeptOne direct-drive robot are specially des igned high torque motors produced by Motometics Inc. in Santa Rosa. California. As described in detail in the following chapter, the motor is a 3-phase variable reluctance motor having many teeth at the roLOr. The motor produces a large torque with s mall power consumption. whe n rotating at low speeds. , Osaka. Japan . The robot has the same kinematic construction as that of the horiz ontal parallelogram mechanism.
Torquers. C. motors. There is, however. C. C. motor in principle; the latter motor is designed in such a way llIat the output torque. ralller than power, be maximized. C. torque motor consists of a stator, a rotor and a brush ring. The stator is made of pcnnanent magnets cemented on a me tal ring, while the rotor has wi ndings having many poles on it. The torque is ex e rte d at the air gap be tween the rotor and the stator. The total area of the air gap A is detennined by the product of the length of the rotor, L" and the diameter of the air gap cylinder, wh ich is approximately the same as the rotor diame�r , D" (2,1) The output torque is then determined!
6 Overheat When a manipulator arm is at rest, the weig h t of the arm l i nk s is a load to each joint. For the gear-drive robot, the gravity load is allenuated by the gear ed ucer by a factor of r nj as shown in Equ. (2. 1 7). Moreover, the gearing m e c hanism introduces friction , which acts in the opposite direction of the joint motion. As a res u l t, the gravity load can be borne in part by the friction at the gear ing . As the gearing is eliminated in the direct-drive robot, the gravity load must be borne by the motor en t irely and directly.
Direct-Drive Robots: Theory and Practice by Haruhiko Asada, Kamal Youcef-Toumi