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Improved performance for robot manipulators via transmission re-design: the SPRINTA

Published online by Cambridge University Press:  01 March 2000

P.J. Turner ,
P. Nigrowsky  and
G. Vines
P.J. Turner
Affiliation:
Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: [email protected], [email protected]
P. Nigrowsky
Affiliation:
Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: [email protected], [email protected]
G. Vines
Affiliation:
Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: [email protected], [email protected]
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Abstract

A new design philosophy for the transmission of robot manipulators is proposed and an example of a practical implementation is presented. The philosophy combines the advantages of conventional geared robots in terms of relocating the actuators away from the joints and the alternative direct-drive approach. The gimbal drive is an example of a non-linear transmission where there is negligible friction, no backlash or compliance and which provides a varying reduction ratio for gravity compensation and for some dynamic decoupling. The gimbal drive is implemented on the three degrees of freedom SPRINTA prototype. Static repeatability, as well as tracking error and dynamic repeatability for the industrial goalpost test are measured. The performance demonstrates the potential of such a type of robot.

Keywords

Non-linear direct transmissionDirect-driveRobotics
Type
Research Article
Information
Robotica , Volume 18 , Issue 2 , March 2000 , pp. 195 - 200
Copyright
© 2000 Cambridge University Press

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