Scaling Properties of Direct Drive Serial Arms

Hannaford, B. and Marbot, P.H. and Buttolo, P. and Moreyra, M. and Venema, S. (1996) Scaling Properties of Direct Drive Serial Arms. International Journal of Robotics Research, 15 (5). pp. 459-472.

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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.

Item Type: Article
Subjects: C Surgical Robots > C Surgical Robots(General)
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 21:20
Last Modified: 07 Jul 2015 21:20

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