1A1-C06 Worm Gear Driven Master-Slave Manipulator

Itai, Yudai; Oka, S.; Ogawa, Satoshi; Iwamoto, Taro; Shibuya, Kazuo

doi:10.1299/jsmermd.2006._1a1-c06_1

Robomech

2006

DOI: 10.1299/jsmermd.2006._1a1-c06_1

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1A1-C06 Worm Gear Driven Master-Slave Manipulator

Yudai Itai

S. Oka

Satoshi Ogawa

et al.

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2009

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Realization of Pseudo Mechanism Function Using a Worm Gear

Iwamoto¹,

Itai²,

Shiroyama³

et al. 2009

JRSJ

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A conceptional idea of the pseudo mechanism is proposed. This concept means that a different mechanical feature from the natural one appears on the mechanism by means of control method. For example, a worm gear behaves like an one-way clutch. Generally, worm gears cannot be driven by load torque because of its mechanical stop feature. But the worm gear of this concept can be driven by load in specified direction, and the rotation to the other direction is prohibited. This asymmetrical motion is achieved by a switching operation of a force feedback control. The applied load torque is detected and fed back positively to a position servo control system in order to achieve power assist control. The worm gear seems to be driven by the load torque and it resembles to a spring motion. If the force feedback line is cut off, the drive system cannot be driven by a load. The switching operation of the force feedback line causes to a selection of back drivable feature or mechanical stop feature. The switching condition is set by a direction and threshold value according to the required mechanical feature. The pseudo mechanical worm gear also pretends as a torque limiter or a ratchet.

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Realization of Pseudo Mechanism Function Using a Worm Gear

Iwamoto¹,

Itai²,

Shiroyama³

et al. 2009

JRSJ

View full text Add to dashboard Cite

show abstract

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1A1-C06 Worm Gear Driven Master-Slave Manipulator

Cited by 1 publication

References 0 publications

Realization of Pseudo Mechanism Function Using a Worm Gear

Realization of Pseudo Mechanism Function Using a Worm Gear

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