Omnidirectional driving gears and their input mechanism with passive rollers

Kenjiro Tadakuma, Riichiro Tadakuma, Kyohei Ioka, Takeshi Kudo, Minoru Takagi, Yuichi Tsumaki, Mitsuru Higashimori, Makoto Kaneko

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

As ordinary dual-axis driving mechanisms in X-Y directions, for example, commercially available X-Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism, which has hampered efforts to achieve suitably fast and smooth driving motion due to the inertial force effect. It is also difficult to achieve a small and slimline driving mechanism with such overlapping two-stage structure. In these ordinary two-stage driving mechanisms, the motion of the X-Y stage can be disturbed by the wires of the upper actuator. In this research, we have considered the abovementioned problems, and propose a new omnidirectional driving gear mechanism that enhances its driving area from the normal X-Y plane to convex and concave curved surfaces respectively, and even various combinations of both. The smoothness of basic omnidirectional motion and effectiveness of the driving method of this proposed omnidirectional driving gear mechanism have been confirmed with several experiments involving our setups.

本文言語English
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ2881-2888
ページ数8
DOI
出版ステータスPublished - 2012 12 1
外部発表はい
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
継続期間: 2012 10 72012 10 12

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
国/地域Portugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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