A Direct-Drive Pneumatic Stepping Motor for Robots: Designs for Pipe-Inspection Microrobots and for Human-Care Robots
نویسندگان
چکیده
A direct-drive stepping motor, based on a new principle is reported. The features of the motor is (1) big torque (4-20 times bigger than that of the same-sized conventional electric motors), (2) high stepping resolution, (3) light weight, and (4) simple structure. The motors are suitable for robots in new applications such as microrobots and human-care robots. First, the mechanism and theoretical analysis are presented. Next, two models, which are designed for pipe-inspection microrobots and for human-care robots, respectively, are shown.
منابع مشابه
Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...
متن کاملOn The In-pipe Inspection Robots Traversing Through Elbows
A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...
متن کاملAdaptive Voltage-based Control of Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...
متن کاملPipe inspection robot pdf
Diameter pipe.robot, called the Multifunctional Robot for IN-pipe inSPECTion. In-pipe robots, which have a long history of development in robotics, can be.This paper describes a mobile feeder pipe inspection robot that can minimize the irradiation dose to human workers by automating the measurement process.Recently, many pipe inspection robot systems have been developed. Initially, development ...
متن کاملInvestigations of Design Issues Related To In-Pipe Inspection Robots
Basically robots are designed in such way that they remove human intervention from labour intensive and hazardous work environment; sometimes they are also used to explore inaccessible work places which are generally impossible to access by humans. The inspection of pipe comes in same category because they carry toxic chemicals, fluids and most of the time has small internal diameter or bends w...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1998