
Direct-Drive Robots
Theory and Practice
MIT Press
Published on 19. June 1987
Book
Paperback/Softback
300 pages
978-0-262-51176-6 (ISBN)
Description
This book describes the design concept and discusses the control issues related to the performance of a direct-drive robot, specifically, a direct-drive mechanical arm capable of carrying up to 10 kilograms, at 10 meters per second, accelerating at 5 G (a unit of acceleration equal to the acceleration of gravity). These are remarkable achievements compared to current industrial robots that move with speeds on the order of 1 meter per second. Direct-Drive Robot presents the most current research in manipulator design and control, emphasizing the high-performance direct-drive robot arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. It describes fundamental technologies of key components such as motors, amplifiers and sensors, arm linkage design, and control system design, and makes significant contributions in the areas of power efficiency analysis, dynamic mass balancing, and decoupling theory. The book provides a good balance between theory and practice, covering the practical design and implementation of this special robot as well as the theoretical design tools.Contents
Part I: Direct-Drive Technologies Introduction Components Part II: Arm Design Theory Power Efficiency Arm Design for Simplified Dynamics Actuator Relocation Design of Decoupled Arm Structures Part III: Development of the MIT Arm Mechanisms Control Systems Part IV: Selected Papers on Direct-Drive Robot Design and Control
Part I: Direct-Drive Technologies Introduction Components Part II: Arm Design Theory Power Efficiency Arm Design for Simplified Dynamics Actuator Relocation Design of Decoupled Arm Structures Part III: Development of the MIT Arm Mechanisms Control Systems Part IV: Selected Papers on Direct-Drive Robot Design and Control
More details
Series
Language
English
Place of publication
Cambridge, Mass.
United States
Publishing group
MIT Press Ltd
Target group
College/higher education
Professional and scholarly
Interest Age: From 18 years
Product notice
Paperback (trade)
Dimensions
Height: 229 mm
Width: 152 mm
Weight
485 gr
ISBN-13
978-0-262-51176-6 (9780262511766)
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Schweitzer Classification
Persons
Haruhiko Asada is an Associate Professor at Kyoto University and Lecturer at MIT.
Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT.
Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT.
Author
Massachusetts Institute of Technology
Massachusetts Institute of Technology