LADD Transmissions: Design, Manufacture, and New Compliance Models
نویسنده
چکیده
We introduce new compliance models for LADD transmissions which reduce inelastic model errors by an order of magnitude. These errors are due to ber bending, as opposed to the traditionally assumed ber elasticity. The new LADD models are experimentally veriied and applied to the modeling of concentric LADD devices. The new models are essential for the design of LADD based systems, the online estimation of LADD forces, and accurate control. Details of the design, manufacture and break-in phenomena are given, as well as the rst experimental measurement of LADD eeciency, which is better than 90%.
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Experimental validation of compliance models for LADD transmission kinematics
We introduce new compliance models for LADD transmissions which reduce, by an order of magnitude, inelastic model errors of up to 18% full scale over force and position operating ranges. Elastic models introduced so far were all based on ber elasticity, which show an increase in LADD length from the inelastic length with force. We show that in experiments the opposite is true. The LADD is alway...
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