Download or read book Direct drive Robots written by Haruhiko Asada and published by MIT Press (MA). This book was released on 1987-01 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the design concept and discusses the control issues related to the performance of a direct-drive robot, specifically, a direct-drive mechanical arm capable of carrying up to 10 kilograms, at 10 meters per second, accelerating at 5 G (a unit of acceleration equal to the acceleration of gravity). These are remarkable achievements compared to current industrial robots that move with speeds on the order of 1 meter per second.Direct-Drive Robot presents the most current research in manipulator design and control, emphasizing the high-performance direct-drive robot arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. It describes fundamental technologies of key components such as motors, amplifiers and sensors, arm linkage design, and control system design, and makes significant contributions in the areas of power efficiency analysis, dynamic mass balancing, and decoupling theory.The book provides a good balance between theory and practice, covering the practical design and implementation of this special robot as well as the theoretical design tools.Contents: Part I: Direct-Drive Technologies. Introduction. Components. Part II: Arm Design Theory. Power Efficiency. Arm Design for Simplified Dynamics. Actuator Relocation. Design of Decoupled Arm Structures. Part III: Development of the MIT Arm. Mechanisms. Control Systems. Part IV: Selected Papers on Direct-Drive Robot Design and Control.Haruhiko Asada is an Associate Professor, Kyoto University, and Lecturer at MIT He has built two prototypes of the direct-drive arm described here. Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT. He has worked for three years with Asada on the development of the MIT high speed directdrive robot.

Download or read book DIRECT DRIVE ROBOTS written by Haruhiko Asada and published by . This book was released on with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Direct Drive Robots written by Haruhiko Asada and published by Mit Press. This book was released on 1987-05 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the design concept and control issues of the high-performance direct-drive robot arm.

Download or read book Design of Direct Drive Mechanical Arms written by Haruhiko Asada and published by . This book was released on 1981 with total page 22 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper describes the design concept of a new robot based on the direct-drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available. For example, we can eliminate all the transmission mechanism between the motors and their loads, such as reducers and chain belts, and construct a simple mechanism (direct-drive) where the arm links are directly coupled to the motor rotors. This elimination can lead to excellent performance: no backlash, low friction, low inertia, low compliance and high reliability, all of which are suited for high-speed high-precision robots. First we propose a basic configuration of direct-drive robots. Second a general procedure for designing direct-drive robots is shown, and the feasibility of direct drive for robot actuation is discussed in terms of weights and torques of joints. One of the difficulties in designing direct-drive robots is that motors to drive wrist joints are loads for motors to drive elbow joints and they are loads for motors at shoulders. To reduce this increasing series of loads is an essential issue for designing practical robots. We analyze the series of joint mass for a simplified kinematic model of the direct-drive robots, and show how the loads are reduced significantly by using rare-earth motors with light weight and high torque. We also discuss optimum kinematic structures with minimum arm weight. Finally, we describe the direct-drive robotic manipulator (CMU arm) developed at Carnegie-Mellon University, and verify the design theory. (Author).

Download or read book Precise Motion Control of a Direct Drive Robot in Fast Maneuvers written by Chih-Lung Yang and published by . This book was released on 1994 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book System Identification and Control of a Direct drive Robot written by Yu-Ming Wang and published by . This book was released on 1986 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Motion and Force Analysis of Semi parallel Direct Drive Robots written by Jingxi You and published by . This book was released on 1992 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Aisne and Montidier Noyon Operations written by and published by . This book was released on 1922 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Trajectory Control of the M I T Direct drive Robot written by Tong-Yuan Andrew Kuo and published by . This book was released on 1987 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Mini Direct Drive Robot for Biomedical Applications written by Pierre-Henry Marbot and published by . This book was released on 1991 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Kinematic Analysis and Design of Link Mechanisms for Direct drive Robots written by Paul Hwan Ro Il and published by . This book was released on 1985 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust Motion Control of a Two axis SCARA Type Direct Drive Robot written by Praveen Kashyap and published by . This book was released on 1992 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Position and Force Control of Direct Drive Robot Arms written by Mohammad Sahirad and published by . This book was released on 1988 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Parameter Identification and Model Based Control of Direct Drive Robots written by Soo Hyun Kim and published by . This book was released on 1991 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Control of a 2 D O F direct drive robot arm using integral sliding mode control written by and published by . This book was released on 2004 with total page 68 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design of a Five Degree of Freedom Direct Drive Mini robot Using Disk Drive Actuators written by Manuel R. Moreyra and published by . This book was released on 1994 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Converting a Commercial Electric Direct drive Robot to Operate from Joint Torque Commands written by and published by . This book was released on 1991 with total page 38 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many robot control algorithms for high performance in-contact operations including hybrid force/position, stiffness control and impedance control approaches require the command the joint torques. However, most commercially available robots do not provide joint torque command capabilities. The joint command at the user level is typically position or velocity and at the control developer level is voltage, current, or pulse-width, and the torque generated is a nonlinear function of the command and joint position. To enable the application of high performance in-contact control algorithms to commercially available robots, and thereby facilitate technology transfer from the robot control research community to commercial applications, an methodology has been developed to linearize the torque characteristics of electric motor-amplifier combinations. A four degree of freedom Adept 2 robot, having pulse-width modulation amplifiers and both variable reluctance and brushless DC motors, is converted to operate from joint torque commands to demonstrate the methodology. The commercial robot controller is replaced by a VME-based system incorporating special purpose hardware and firmware programmed from experimental data. The performance improvement is experimentally measured and graphically displayed using three-dimensional plots of torque vs command vs position. The average percentage torque deviation over the command and position ranges is reduced from as much as 76% to below 5% for the direct-drive joints 1, 2 and 4 and is cut by one half in the remaining ball-screw driven joint 3. Further, the torque deviation of the direct-drive joints drops below 2.5% if only the upper 90% of the torque range is considered. 23 refs., 20 figs., 2 tabs.