A robot actuator development with high backdrivability

Tatsuzo Ishida, Atsuo Takanishi

研究成果: Conference contribution

31 被引用数 (Scopus)

抄録

We propose a new robot actuator, especially a robot actuator gear which has a very effective feature of backdrivability. We show the study of the new definition of backdrivability of an actuator gear which has the quantitative definition. From this definition we propose the method of making the gear which has a good backdrivability. Based on this method, the actuator gear was developed and we show the result from the experiment. The comparisons with the other types of actuator gear which are Harmonic drive gear and normal planetary gear are described. Finally the comparison has proved that the developed actuator gear has very effective backdrivability.

本文言語English
ホスト出版物のタイトル2006 IEEE Conference on Robotics, Automation and Mechatronics
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand
継続期間: 2006 6 72006 6 9

出版物シリーズ

名前2006 IEEE Conference on Robotics, Automation and Mechatronics

Conference

Conference2006 IEEE Conference on Robotics, Automation and Mechatronics
国/地域Thailand
CityBangkok
Period06/6/706/6/9

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 制御およびシステム工学

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