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[093] Citation: B. Hannaford, P.H. Marbot, P. Buttolo, M. Moreyra, S. Venema,
'Scaling Properties of Direct Drive Serial Arms,'
International Journal of Robotics Research, vol. 15, pp. 459-472, 1996.
Abstract
This paper studies the ways that the performance of direct drive
serial robots changes as system size is changed. We are particularly
interested in the physical laws for scaling down direct drive arms to
small sizes. Using theoretical scaling analysis, we show that there is
a net physical performance advantage to small direct drive arms. A key
factor for direct drive robot performance is the torque to mass ratio
of the actuators, U. We show how U varies with the scale of DD actuators,
and we also calculate how the dynamic performance varies with scale.
We compare our calculations with experimental measurements of
actuators of various sizes taken from small hard disk drives and
compare them with published data for larger motors. Finally, we
describe a prototype, 5-axis, direct drive, serial arm having a reach
of 10cm and a workvolume of about 136cm3. Some potential applications
are briefly discussed.
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Updated: Tue Jul 15 23:54:50 2008
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