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The effects of gear reduction on robot dynamicsThe effect of the joint drive system with gear reduction for a generic two-link system is studied. It is done by comparing the kinetic energy of such a system with that of a direct drive two-link system. The only difference are two terms involving the inertia of the motor rotor and gear ratio. Modifications of the equations of motion from a direct drive system are then developed and generalized to various cases encountered in robot manipulators.
Document ID
19900020545
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, J. (Maryland Univ. College Park, MD, United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 4
Subject Category
Mechanical Engineering
Accession Number
90N29861
Funding Number(s)
CONTRACT_GRANT: NAG5-1019
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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