1A1-C06 Worm Gear Driven Master-Slave Manipulator

Abstract

Worm gear driven master-slave manipulator has been made and tested. It is well known that a worm gear has high reduction gear ratio, and it is impossible to drive it reversely. But this reversal drive motion can be achieved by applying the positive force feedback control to organize a power assisted system. Force reflection servo type bilateral control is applicable to this worm gear driven master-slave manipulator because of its power assisting feature. Parallel beam support structures are used to detect the tangential force of the worm wheel. The experimental result shows that this system is feasible and self lock feature is effective when power is lost.