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Dynamics and control of instrumented harmonic drivesSince torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method's limitations.
Document ID
20040089424
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Kazerooni, H.
(University of California Berkeley 94720, United States)
Ellis, S. R.
Date Acquired
August 21, 2013
Publication Date
March 1, 1995
Publication Information
Publication: Journal of dynamic systems, measurement, and control
Volume: 117
ISSN: 0022-0434
Subject Category
Life Sciences (General)
Distribution Limits
Public
Copyright
Other
Keywords
NASA Discipline Space Human Factors
NASA Center ARC

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