---
title: "Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors"
authors:
  - "Haruhiko Asada"
  - "Takeo Kanade"
doi: ""
url: "https://ijcai.org/proceedings/1981/149"
pdf: "https://ijcai.org/proceedings/1981/0149.pdf"
venue: "Proceedings of the Seventh International Joint Conference on Artificial Intelligence"
year: 1981
pages: "775-777"
track: "Robotics"
keywords:
---

# Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors

Haruhiko Asada, Takeo Kanade

*Proceedings of the Seventh International Joint Conference on Artificial Intelligence*, 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.