DocumentCode
414390
Title
Design and testing of a prototype transmission-based robot servoactuator
Author
Hamel, W.R. ; Sewoong Kim ; Zhou, Rui ; Lumsdaine, A.
Author_Institution
Mech. Aerosp. & Biomed. Eng. Dept., Tennessee Univ., Knoxville, TN, USA
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3628
Abstract
A novel actuator concept has been developed and prototyped. By integrating a multi-speed transmission with a high performance permanent magnet DC servomotor, it has been shown that an electrical drive can provide power/torque density and physical size that approaches the capabilities of electrohydraulics. Preliminary experimental tests of the prototype are encouraging and the first steps toward verifying the concept.
Keywords
DC motor drives; actuators; permanent magnet motors; position control; robots; servomotors; variable speed drives; electrical drive; electrohydraulics; multispeed transmission; permanent magnet DC servomotor; position control; power density; prototype transmission based robot servoactuator; torque density; Actuators; Automatic control; Biomedical engineering; DC motors; Gears; Prototypes; Robots; Solenoids; Testing; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308817
Filename
1308817
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