1A1-C08 Development of Serial Manipulator with Constant Load Spring and Planetary Gears(Mechanism and Control for Wire Actuation System)

Abstract

For the purpose of the backlash reduction in a serial link manipulator, we develop a manipulator where a constant-force spring is used. The spring has the characteristics that Hooke's law is not satisfied. Since it is not necessary to consider the force characteristics of the constant-force spring, the position control with high accuracy can be accomplished.