On the Design and Construction of Direct-Drive Robots

[+] Author and Article Information
H. Kazerooni, S. Kim

Mechanical Engineering Department, University of Minnesota, Minneapolis, MN 55455

J. Eng. Ind 112(2), 197-201 (May 01, 1990) (5 pages) doi:10.1115/1.2899568 History: Received April 13, 1988; Revised July 21, 1989; Online April 08, 2008


In this research, a statically-balanced direct-drive manipulator is designed and constructed to achieve improved dynamic behavior for compliance control [10, 11, 12]. The manipulator mechanism, incorporating a four-bar linkage, is designed so that its functional parts are balanced in all positions without the addition of counterweights. The motors are never loaded by gravity. As a result, smaller motors with less torque can be used to achieve higher speed, accuracy, and repeatability in fine manipulation tasks. The robot is powered by high-torque AC synchronous motors. The mechanism is comprised of graphite-epoxy and AA7075T6 aluminum materials. The manipulator is controlled by a parallel processor computer.

Copyright © 1990 by The American Society of Mechanical Engineers
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