Experimental evaluation of a new traction-drive robotic transmission

摘要

A novel roller-gear traction drive has been designed, built, and evaluated for use in a robot joint. The drive incorporates steel rollers integrated with precision gearing in parallel. Evaluation of a 23.2:1 ratio, 300-W, 26-N-m output torque, prototype drive is presented. Due to the relatively high stiffness, zero backlash, smooth torque production, and back-drivability, the transmission permits smooth motion control and exceptionally good performance under closed-loop output torque control. Under impedance control, the drive is shown to be responsive to external torques, yet is stable upon impact with rigid environments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>