Development of Novel Linear Motion Mechanism with Load Sensitive Transmission

Jianjun Yuan; Shigeo Hirose

doi:10.20965/jrm.2006.p0545

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JRM Vol.18 No.5 pp. 545-555

doi: 10.20965/jrm.2006.p0545

(2006)

Paper:

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Development of Novel Linear Motion Mechanism with Load Sensitive Transmission

Jianjun Yuan and Shigeo Hirose

Dept. of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan

Received:

September 2, 2005

Accepted:

December 19, 2005

Published:

October 20, 2006

Keywords:

load sensitive, continuously variable transmission (CVT), linear motion, flat spring, rubber roller

Abstract

In more and more robotic applications, it is strongly desired that each actuator provides a wide range of speed, and has more capability to adapt to larger changes of load at the same time. In this paper, we discuss the proposal and development of a novel linear motion mechanism with load sensitive transmission, which consists of certain key components such as rubber rollers and flat springs. The developed mechanical model provides long stroke linear motion and has its ratio changed automatically in response to the continuously variable coaxial pressing load. This compact mechanism has the ability to absorb sudden coaxial load shock and is equipped with overload protection; it stops its advance if the load exceeds a certain value while the motor continues to rotate to keep it from overheating. Having the characteristics of light weight, compact dimensions, large ranges of load and speed, load sensitivity, and long stroke linear motion, it is expected that this mechanism can be used in linear moving robotic application in future.

Cite this article as:

J. Yuan and S. Hirose, “Development of Novel Linear Motion Mechanism with Load Sensitive Transmission,” J. Robot. Mechatron., Vol.18 No.5, pp. 545-555, 2006.

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References

[1] S. Hirose, “Robotics –Vector Analysis of Mechanical System– (2^nd edition),” Shokabo printed, p. 136, 1998.
[2] Y. Kamiya, H. Seki, M. Hikizu, and F. Sakai, “Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver,” Jour. of the Japan Society of Precision Engineering, Vol.65, No.3, pp. 464-468, 1998.
[3] S. Hirose, C. Tibbetts, and T. Hagiwara, “Development of X-screw: A load-Sensitive Actuator Incorporating a Variable Transmission,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 193-199, 1999.
[4] M. Nakao, M. Kumura, H. Sugihara, J. Mori, and N. Maruyama, “Development of a Large Torgue Capacity Half-Toroidal CVT,” SAE Paper, pp. 1-9, 2000.
[5] P. Krus, “On Load Sensing Fluid Power Systems with Special Reference to Dynamic Properties and Control Aspects,” Linkőping Studies in Science and Technology Dissertations, No.198, pp. 15-54, Linkőping Univ., Sweden, 1998.
[6] Y. Sakurai and K. Takahashi, “Dynamic Characteristics of a Load Sensing Hydraulic System (Experiment and Simulation),” Transactions of the Japan Society of Mechanical Engineers (JSME) -C, Vol.63, No.605, pp. 84-91, 1997.
[7] T. Makino, “Development of 3K-TypeTraction Drive CVT for High Speed Rotation (2^nd Report, Efficiency),” Transactions of the Japan Society of Mechanical Engineers (JSME) -C, Vol.66, No.648, pp. 2810-2817, 2000.
[8] M. Yamanaka, G. Igari, and K. Inoue, “Study of Shaft Drive Continuously Variable Transmission (1^st Report, Analysis of Mechanism and Prototype),” Transactions of the Japan Society of Mechanical Engineers (JSME) -C, Vol.70, No.692, pp. 1182-1189, 2004.
[9] E. F. Fukushima, H. Nakanoto, R. Damoto, and S. Hirose, “Optimal Load-Sensitive Control for Mobile Robots Equipped with Continuously Variable Transmissions,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 476-481, 2001.
[10] T. Takaki and T. Omata, “Load sensitive Continuously Variable Transmission for Robot Hands,” Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3391-3396, 2004.
[11] T. Hagiwara and S. Hirose, “Development of Dual Mode X-Screw: a Novel Load Sensitive Linear Actuator with a Wide Transmission Range,” Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 537-542, 1999.
[12] S. Hirose, “Extensible/Contractible Structure Body,” Japan Patent Office #H06-227457, 1994.
[13] J. Yuan and S. Hirose, “Development of load sensitive linear moving mechanism using rollers and flat springs,” Proc. of the IEEE Int. Conf. on Mechatronics and Robotics, pp. 344-349, 2004.
[14] E. F. Fukushima, T. Tsumaki, and S. Hirose, “Development of A PWM DC Motor Servo Driver Circuit,” proceedings of the 13th Annual Conference of the Robotics Society of Japan, pp. 1153-1154, 1995.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Hirose, “Robotics –Vector Analysis of Mechanical System– (2^nd edition),” Shokabo printed, p. 136, 1998.

[2] [2] Y. Kamiya, H. Seki, M. Hikizu, and F. Sakai, “Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver,” Jour. of the Japan Society of Precision Engineering, Vol.65, No.3, pp. 464-468, 1998.

[3] [3] S. Hirose, C. Tibbetts, and T. Hagiwara, “Development of X-screw: A load-Sensitive Actuator Incorporating a Variable Transmission,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 193-199, 1999.

[4] [4] M. Nakao, M. Kumura, H. Sugihara, J. Mori, and N. Maruyama, “Development of a Large Torgue Capacity Half-Toroidal CVT,” SAE Paper, pp. 1-9, 2000.

[5] [5] P. Krus, “On Load Sensing Fluid Power Systems with Special Reference to Dynamic Properties and Control Aspects,” Linkőping Studies in Science and Technology Dissertations, No.198, pp. 15-54, Linkőping Univ., Sweden, 1998.

[6] [6] Y. Sakurai and K. Takahashi, “Dynamic Characteristics of a Load Sensing Hydraulic System (Experiment and Simulation),” Transactions of the Japan Society of Mechanical Engineers (JSME) -C, Vol.63, No.605, pp. 84-91, 1997.

[7] [7] T. Makino, “Development of 3K-TypeTraction Drive CVT for High Speed Rotation (2^nd Report, Efficiency),” Transactions of the Japan Society of Mechanical Engineers (JSME) -C, Vol.66, No.648, pp. 2810-2817, 2000.

[8] [8] M. Yamanaka, G. Igari, and K. Inoue, “Study of Shaft Drive Continuously Variable Transmission (1^st Report, Analysis of Mechanism and Prototype),” Transactions of the Japan Society of Mechanical Engineers (JSME) -C, Vol.70, No.692, pp. 1182-1189, 2004.

[9] [9] E. F. Fukushima, H. Nakanoto, R. Damoto, and S. Hirose, “Optimal Load-Sensitive Control for Mobile Robots Equipped with Continuously Variable Transmissions,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 476-481, 2001.

[10] [10] T. Takaki and T. Omata, “Load sensitive Continuously Variable Transmission for Robot Hands,” Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3391-3396, 2004.

[11] [11] T. Hagiwara and S. Hirose, “Development of Dual Mode X-Screw: a Novel Load Sensitive Linear Actuator with a Wide Transmission Range,” Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 537-542, 1999.

[12] [12] S. Hirose, “Extensible/Contractible Structure Body,” Japan Patent Office #H06-227457, 1994.

[13] [13] J. Yuan and S. Hirose, “Development of load sensitive linear moving mechanism using rollers and flat springs,” Proc. of the IEEE Int. Conf. on Mechatronics and Robotics, pp. 344-349, 2004.

[14] [14] E. F. Fukushima, T. Tsumaki, and S. Hirose, “Development of A PWM DC Motor Servo Driver Circuit,” proceedings of the 13th Annual Conference of the Robotics Society of Japan, pp. 1153-1154, 1995.