ItemAvailable
State of the Art of Mechanical-Transmission Technology
Faculty of Engineering
Mechanical Engineering
McGill University
A transmission mechanism, based on cam mechanisms, provides a viable alternative to conventional transmissions (e.g., gears, harmonic drives and direct drives).
Motivation:
Gear transmissions entail drawbacks in robotics applications:
- backlash introduces unmodelled dynamics
- dry friction is unavoidable
- a gear is as strong as the weakest of its teeth
Harmonic drives solve above problems at the expense of:
- unacceptable high flexibility
- hysteretic effects that mar the dynamics of robots
- limited applicability: only coaxial shafts can be coupled
Conventional transmissions are unsuitable for mechatronic applications.
- United States Patent, No. US 6382938B2
Robotic Mechanical Systems Laboratory (Dismantled)
Faculty of Engineering
Research lab focused on advancing scientific knowledge and innovation.
JA
Jorge Angeles
ItemAvailable
State of the Art of Mechanical-Transmission Technology
Faculty of Engineering
Mechanical Engineering
McGill University
A transmission mechanism, based on cam mechanisms, provides a viable alternative to conventional transmissions (e.g., gears, harmonic drives and direct drives).
Motivation:
Gear transmissions entail drawbacks in robotics applications:
- backlash introduces unmodelled dynamics
- dry friction is unavoidable
- a gear is as strong as the weakest of its teeth
Harmonic drives solve above problems at the expense of:
- unacceptable high flexibility
- hysteretic effects that mar the dynamics of robots
- limited applicability: only coaxial shafts can be coupled
Conventional transmissions are unsuitable for mechatronic applications.
- United States Patent, No. US 6382938B2
Robotic Mechanical Systems Laboratory (Dismantled)
Faculty of Engineering
Research lab focused on advancing scientific knowledge and innovation.
JA
Jorge Angeles
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