High-speed trajectory control of a direct-drive manipulator

1993 ◽  
Vol 9 (1) ◽  
pp. 102-108 ◽  
Author(s):  
K. Youcef-Toumi ◽  
A.T.Y. Kuo
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Direct Drive

Design and control of a high-speed direct-drive manipulator

1989 ◽  
Vol 27 (3) ◽  
pp. 375-394 ◽  
Author(s):  
K. YOUCEF-TOUMI ◽  
A. T. Y. KUO
Keyword(s):  
High Speed ◽  
Direct Drive ◽  
And Control

Test Results and Analytical Predictions for Rotor Drop Testing of an AMB Expander/Generator

2006 ◽  
Author(s):  
Lawrence Hawkins ◽  
Alexei Filatov ◽  
Shamim Imani ◽  
Darren Prosser
Keyword(s):  
High Speed ◽  
High Performance ◽  
Time History ◽  
Test Results ◽  
Direct Drive ◽  
Flow Loop ◽  
Low Loss ◽  
Model Predictions ◽  
Full Speed ◽  
Insight Into

A cryogenic gas expander system that incorporates a high performance, high-speed permanent magnet, direct-drive generator and low loss magnetic bearings is described. Flow loop testing to 30,000 rpm was completed at the system manufacturer’s facility in January 2005, and field installation is scheduled for October 2005. As part of the system testing, the rotor was dropped onto the backup bearings multiple times at an intermediate speed and at 30,000 rpm. Orbit and time-history data from a full speed drop and spin down are presented and discussed in detail. A transient, nonlinear rotordynamic analysis simulation model was developed for the machine to provide insight into the dynamic behavior. The model includes the dead band clearance, the flexible backup bearing support and hard stop. Model predictions are discussed relative to the test data.

Design of a compact statically balanced direct-drive manipulator

Robotica ◽  
1990 ◽  
Vol 8 (4) ◽  
pp. 347-353
Author(s):  
Tarek M. Abdel-Rahman ◽  
M.A. Elbestawi
Keyword(s):  
Conceptual Design ◽  
Dynamic Characteristics ◽  
High Speed ◽  
Design Methodology ◽  
Dynamic Behaviour ◽  
Design Guidelines ◽  
Kinematics And Dynamics ◽  
Direct Drive ◽  
Static Balancing ◽  
Design Considerations

SUMMARYThis paper addresses the conceptual design of direct-drive manipulators which have good promise for high speed, high precision manipulation. In the design methodology presented, the procedure begins by considering the kinematic aspects and ends by configuring manipulator structures with promising kinematic and dynamic characteristics. Based on the conceptual design considerations, a novel 3 DOF (RRR) direct-drive manipulator is proposed and analyzed. The manipulator structure has only five links and a compact configuration. Manipulator kinematics and dynamics are analyzed. Design guidelines are derived for static balancing of the manipulator and for minimizing the inertias driven by the motors. Operational configurations that either improve or worsen the kinematic and dynamic behaviour or characteristics of the manipulator are identified. The proposed design has an advantage over many currently known direct-drive manipulators for achieving two desirable mechanical features, namely: static balancing and compactness (smaller driven inertias).

scholarly journals Design and Analysis of a Novel Speed-Changing Wheel Hub with an Integrated Electric Motor for Electric Bicycles

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Yi-Chang Wu ◽  
Zi-Heng Sun
Keyword(s):  
High Speed ◽  
Power Transmission ◽  
Permanent Magnet Synchronous Motor ◽  
Planetary Gear ◽  
Rear Wheel ◽  
Gear Train ◽  
Direct Drive ◽  
Element Analysis ◽  
Embodiment Design ◽  
Electric Bicycles

The aim of this paper is to present an innovative electromechanical device which integrates a brushless DC (BLDC) hub motor with a speed-changing wheel hub stored on the rear wheel of an electric bicycle. It combines a power source and a speed-changing mechanism to simultaneously provide functions of power generation and transmission for electric bicycles. As part of the proposed integrated device, the wheel hub consists of a basic planetary gear train providing three forward speeds including a low-speed gear, a direct drive, and a high-speed gear. Each gear is manually controlled by the shift control sleeve to selectively engage or disengage four pawl-and-ratchet clutches based on its clutching sequence table. The number of gear teeth of each gear element of the wheel hub is synthesized. The BLDC hub motor is an exterior-rotor-type permanent-magnet synchronous motor. Two-dimensional finite-element analysis (FEA) software is employed to facilitate the motor design and performance analysis. An analysis of the power transmission path at each gear is provided to verify the validity of the proposed design. The results of this work are beneficial to the embodiment, design, and development of novel electromechanical devices for the power and transmission systems of electric bicycles.

Application of Linear Servo Motor in Biochip Microarray Instrument

2013 ◽  
Vol 321-324 ◽  
pp. 795-798
Author(s):  
Quan Liu ◽  
Qiao Qiao Liu ◽  
Xiao Fei Wang ◽  
Xue Zhao
Keyword(s):  
High Speed ◽  
Ball Screw ◽  
Servo Motor ◽  
Direct Drive ◽  
Improve Performance ◽  
Positioning Accuracy ◽  
Linear Motors ◽  
Rotary Motors ◽  
Automation Control ◽  
Novel Design

A novel design to biochip microarray instrument is use of linear motors, in preference to conventional rotary motors driving ball screw. Three ironless core linear servo motors direct drive the X, Y and Z-axis motion, Improve performance such as superior positioning accuracy, high-speed operation and increased efficiency. The whole configuration for new microarray printing instrument is designed. Furthermore, the structure of special linear motors is also designed detailedly. And the linear servo motor automation control technology is introduced in this paper.

Design and Control of Planar Parallel Mechanisms with High Speed and High Precision

2006 ◽  
Vol 315-316 ◽  
pp. 872-0
Author(s):  
L.N. Sun ◽  
Y.J. Liu ◽  
J. Li ◽  
J. Cui
Keyword(s):  
High Precision ◽  
Disturbance Observer ◽  
High Speed ◽  
Optimization Design ◽  
Advanced Manufacturing ◽  
Parallel Mechanisms ◽  
Direct Drive ◽  
End Effector ◽  
Load Disturbance ◽  
And Control

In order to satisfy the requirement of advanced manufacturing equipments with high speed and high precision, two planar parallel mechanisms have been developed. Based on these mechanisms, firstly, in consideration with the velocity and the precision of the end-effector together, the dimension optimization design is performed based on conditioning index and the precision characteristics. Then a disturbance observer is designed for the purpose of restraining load disturbance in the direct-drive system, and the experimental results show that load disturbance can be effectively restrained by the disturbance observer.

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