Study on Robotic Differential-drive Actuator with Parallel Velocity Control
Peng Gao, Anye Ren
Available Online April 2015.
- https://doi.org/10.2991/icmra-15.2015.218How to use a DOI?
- Robot; Differential Drive; Parallel Control.
- 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.
- 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 - 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 -