Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors
Proceedings of the Seventh International Joint Conference on Artificial Intelligence. Robotics. Pages 775-777.
Abstract
A direct-drive robotic manipulator (CMU DD Ann) is being" developed at Carnegie-Mellon University. This paper describes the design concept and theory of this new mechanical ann 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 beuer pe rfonnance than those presently avai[pble. For example, we can eliminate all the transmission mechanisms between the motors and their loads. such as reducers and chain belts. and construct a simple mechanism (direct-drive) where the ann links are directly coupled to the motor rotors and stators. This elimination can lead to excellent perfonnance: no backlash, low fraction, low inertia, low compliance and high reliability.
@inproceedings{ijcai1981p149,
title = {Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors},
author = {Asada, Haruhiko and Kanade, Takeo},
booktitle = {Proceedings of the Seventh International Joint Conference on
Artificial Intelligence, {IJCAI-81}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Roger C. Schank},
pages = {775--777},
year = {1981},
month = {8},
note = {Robotics},
url = {https://ijcai.org/proceedings/1981/149},
}
TY - CPAPER TI - Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors AU - Asada, Haruhiko AU - Kanade, Takeo T2 - Proceedings of the Seventh International Joint Conference on Artificial Intelligence, IJCAI-81 PB - International Joint Conferences on Artificial Intelligence PY - 1981 SP - 775 EP - 777 UR - https://ijcai.org/proceedings/1981/149 ER -Copied
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