The effect of transmission design on force-controlled manipulator performance Export

@phdthesis{Ref_transmission_townsend, abstract = {The concept of manipulator force control and a corresponding emphasis on the choice of appropriate mechanical hardware may ultimately be the limiting performance factor in force control. Mechanism properties, such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction, affect, and often degrade, manipulator performance in force-controlled systems. This thesis describes a set of requisites for good perfomance, analyzes the effects of transmission-mechanism properties on force-controlled manipulators, and recommends mechanical-design strategies to improve perfomance. While much of the analysis applies to a broad class of transmissions, a special control-volume analysis quantifies a limit on the power efficiency of tension-element drives. A single-degree-of-freedom transmission testbed was constructed and used to confirm the predicted effect of Coulomb friction on robustness; design of a cable-driven, four-degree-of-freedom, "whole-arm" manipulator illustrates the recommended mechanical-design strategies.}, author = {Townsend, William T.}, citeulike-article-id = {2891563}, citeulike-linkout-0 = {http://dspace.mit.edu/handle/1721.1/14366}, keywords = {ajout-13juin2008, transmission}, posted-at = {2008-06-13 15:58:16}, priority = {4}, school = {Massachusetts Institute of Technology, Dept. of Mechanical Engineering}, title = {The effect of transmission design on force-controlled manipulator performance}, url = {http://dspace.mit.edu/handle/1721.1/14366}, year = {1988} }

TY - THES ID - Ref_transmission_townsend L3 - citeulike-article-id:2891563 N2 - The concept of manipulator force control and a corresponding emphasis on the choice of appropriate mechanical hardware may ultimately be the limiting performance factor in force control. Mechanism properties, such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction, affect, and often degrade, manipulator performance in force-controlled systems. This thesis describes a set of requisites for good perfomance, analyzes the effects of transmission-mechanism properties on force-controlled manipulators, and recommends mechanical-design strategies to improve perfomance. While much of the analysis applies to a broad class of transmissions, a special control-volume analysis quantifies a limit on the power efficiency of tension-element drives. A single-degree-of-freedom transmission testbed was constructed and used to confirm the predicted effect of Coulomb friction on robustness; design of a cable-driven, four-degree-of-freedom, "whole-arm" manipulator illustrates the recommended mechanical-design strategies. TI - The effect of transmission design on force-controlled manipulator performance PB - Massachusetts Institute of Technology, Dept. of Mechanical Engineering KW - ajout-13juin2008 KW - transmission AU - Townsend, William PY - 1988/// UR - http://dspace.mit.edu/handle/1721.1/14366 ER -