Roller-gear drives for robotic manipulators design, fabrication and test

Details Roller-gear drives for robotic manipulators design, fabrication and test Roller-gear drives for robotic manipulators design, fabrication and test

Sep 1991

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1991stin...9412802a&link_type=abstract

Final Report NASTEC, Inc., Cleveland, OH.

Computer Science

Robotics

Control Systems Design, Fabrication, Gears, Manipulators, Mechanical Drives, Robot Arms, Robot Control, Robotics, Rollers, Transmissions (Machine Elements), Cylindrical Bodies, Torque

Scientific paper

Two single axis planetary roller-gear drives and a two axis roller-gear drive with dual inputs were designed for use as robotic transmissions. Each of the single axis drives is a two planet row, four planet arrangement with spur gears and compressively loaded cylindrical rollers acting in parallel. The two axis drive employs bevel gears and cone rollers acting in parallel. The rollers serve a dual function: they remove backlash from the system, and they transmit torque when the gears are not fully engaged.

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