The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 1A1-C08
Conference information
1A1-C08 Development of Serial Manipulator with Constant Load Spring and Planetary Gears(Mechanism and Control for Wire Actuation System)
Yoichi SAKURADATatsuto OMORIHaruki SATOToshihiro YUKAWATetsuro ESASHIKAMasaharu KANEKO
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
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.
Content from these authors
© 2014 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top