{"type":"ScholarlyArticle","title":"Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors","authors":[{"name":"Haruhiko Asada","slug":"haruhiko-asada","given":"Haruhiko","family":"Asada","affiliation":""},{"name":"Takeo Kanade","slug":"takeo-kanade","given":"Takeo","family":"Kanade","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/1981/149","pdf":"https://ijcai.org/proceedings/1981/0149.pdf","markdown":"https://ijcai.org/proceedings/1981/149.md","bibtex":"https://ijcai.org/proceedings/1981/bibtex/149","volume":{"slug":"1981","title":"Proceedings of the Seventh International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1981","url":"https://ijcai.org/proceedings/1981/","year":1981,"location":"Vancouver, British Columbia, Canada","dates":"24-28 August 1981","editors":"Roger C. Schank","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":149,"pages":{"first":775,"last":777},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}