Download Direct-Drive Robots: Theory and Practice by Haruhiko Asada, Kamal Youcef-Toumi PDF

By Haruhiko Asada, Kamal Youcef-Toumi

This e-book describes the layout thought and discusses the keep an eye on matters concerning the functionality of a direct-drive robotic, particularly, a direct-drive mechanical arm in a position to sporting as much as 10 kilograms, at 10 meters consistent with moment, accelerating at five G (a unit of acceleration equivalent to the acceleration of gravity). those are striking achievements in comparison to present commercial robots that flow with speeds at the order of one meter in step with moment. Direct-Drive robotic provides 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 automobiles with excessive torque. It describes basic applied sciences of key elements akin to vehicles, amplifiers and sensors, arm linkage layout, and regulate process layout, and makes major contributions within the components of strength potency research, dynamic mass balancing, and decoupling idea. The publication presents a superb stability among thought and perform, overlaying the sensible layout and implementation of this targeted robotic in addition to the theoretical layout instruments. Contents: half I: Direct-Drive applied sciences. advent. parts. half II: Arm layout concept. energy potency. Arm layout for Simplified Dynamics. Actuator Relocation. layout of Decoupled Arm constructions. half III: improvement of the MIT Arm. Mechanisms. keep an eye on 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 right here. Kamal Youcef-Toumi is an Assistant Professor, division of Mechanical Engineering, procedure Dynamics and Controls department at MIT. He has labored for 3 years with Asada at the improvement of the MIT excessive pace directdrive robotic.

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2. The fluctuation in torque is prominent 3. Since the rotor position is stabl e only when the teeth of the rotor are aligned with the ones of the stator. the possible positioning points are limited; namely coarse positioning resolution. 4. The ratio of motor weight to output torque tends to be higher than other motors. To solve the first three problems, a closed loop current control using a rotor position sensor has been employed. With the rotor position information, the excitation of each phase windings can be accomplished correctively, thus out-of-phase motion occurs.

The possible positioning points are limited; namely coarse positioning resolution. 4. The ratio of motor weight to output torque tends to be higher than other motors. To solve the first three problems, a closed loop current control using a rotor position sensor has been employed. With the rotor position information, the excitation of each phase windings can be accomplished correctively, thus out-of-phase motion occurs. C. torquer. sinusoidal excitation can be prodoced with the rotor position information.

Whe n rotating at low speeds. , Osaka. Japan . The robot has the same kinematic construction as that of the horiz ontal parallelogram mechanism. T. Arm Model IV, namely the The arm length is about 60 cm, a little smaller than the AdeptOne robot. The motors used for the Matsushita robot arc brush less torque mo tors with Samarium-Cobalt magnets. One of the features of the Matsushita robot is that the motor, when incorporated with a high pcrfonnan ce drive amplifier. has an excellent linearity. while produci ng a large torque with a small torque ripple.

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