| タイトル | Traction-drive force transmission for telerobotic joints |
| 本文（外部サイト） | http://hdl.handle.net/2060/19890014535 |
| 著者（英） | Williams, D. M.; Kuban, D. P. |
| 著者所属（英） | Oak Ridge National Lab. |
| 発行日 | 1989-03-01 |
| 言語 | eng |
| 内容記述 | A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described. |
| NASA分類 | MECHANICAL ENGINEERING |
| レポートNO | 89N23906 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/141956 |
