Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation

Study on Robotic Differential-drive Actuator with Parallel Velocity Control

Authors
Peng Gao, Anye Ren
Corresponding Author
Peng Gao
Available Online April 2015.
DOI
https://doi.org/10.2991/icmra-15.2015.218How to use a DOI?
Keywords
Robot; Differential Drive; Parallel Control.
Abstract
In this paper we propose a differential-drive actuator with dual-input actuation for robotic manipulation. This work is focused on mechanism design and actuation control. Based on an epicyclic gear train, the actuator uses a floating ring gear to realize two inputs and single output. Based on differential velocity control, the actuator can realize stepless speed regulation and flexible transformation. Finally, we fabricate an actuator prototype, which shows the feasibility of robotic differential-drive, but needs further experiments and tests.
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This is an open access article distributed under the CC BY-NC license.

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Volume Title
Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
Series
Advances in Computer Science Research
Publication Date
April 2015
ISBN
978-94-62520-76-9
ISSN
2352-538X
DOI
https://doi.org/10.2991/icmra-15.2015.218How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Peng Gao
AU  - Anye Ren
PY  - 2015/04
DA  - 2015/04
TI  - Study on Robotic Differential-drive Actuator with Parallel Velocity Control
BT  - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
PB  - Atlantis Press
SP  - 1130
EP  - 1133
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmra-15.2015.218
DO  - https://doi.org/10.2991/icmra-15.2015.218
ID  - Gao2015/04
ER  -