Evaluation of Basic Driving Characteristics and Implementation of Redundant Speed Limiting Function of a Double-Motor Driving System

Eri Watai; Seonghee Jeong

doi:10.20965/jrm.2011.p0408

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JRM Vol.23 No.3 pp. 408-415

doi: 10.20965/jrm.2011.p0408

(2011)

Paper:

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Evaluation of Basic Driving Characteristics and Implementation of Redundant Speed Limiting Function of a Double-Motor Driving System

Eri Watai and Seonghee Jeong

Dept. of Electro-Mechanical Engineering, Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka 572-8530, Japan

Received:

September 30, 2010

Accepted:

April 13, 2011

Published:

June 20, 2011

Keywords:

double-motor driving, over-speed protection, anti-backlash, actuator module

Abstract

The final goal of this paper is to develop an actuator system with high safety and driving performance using a double-motor driving method. In order to realize the goal, firstly, the driving characteristics of the driving method is identified through several experiments. As a result of the experiments, it was clarified that the relationship between rotational speed and torque of the driving method becomes linear in case of a small offset voltage. In addition, it was verified that the motor torque generated by an offset voltage should be larger than the static friction of a gear reducer in order to reduce a backlash on the output shaft. A Safety Related Part (SRP) for the driving system is implemented to avoid an over speed. The SRP consists of two-channel safety parts capable of executing safety function to cut-off power to motors independently. Through several experiments, it was confirmed that the safety function was well conducted in case of a single failure of a sensor system.

Cite this article as:

E. Watai and S. Jeong, “Evaluation of Basic Driving Characteristics and Implementation of Redundant Speed Limiting Function of a Double-Motor Driving System,” J. Robot. Mechatron., Vol.23, No.3, pp. 408-415, 2011.

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References

[1] O. Olesya, “Human-Robot Interaction Safety Problems,” 15th Int. Workshop on Robotics in Alpe-Adria-Danube Region, pp. 63-68, Hungary, 2006.
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[3] Z. Xin-Yue and T. Abe, “The Developments of the World Smallest Harmonic Drive and AC Servo Actuator,” Proc. of the 2007 JSME Conf. on Robotics and Mechatronics, 2A1-E07, 2007.
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[7] J. Seonghee and T. Takayuki, “Stable and Quick Standing Motion of I-PENTAR byWhole-body Motion with Force Control,” Proc. 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems IROS2008, pp. 199-204, 2008.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] O. Olesya, “Human-Robot Interaction Safety Problems,” 15th Int. Workshop on Robotics in Alpe-Adria-Danube Region, pp. 63-68, Hungary, 2006.

[2] [2] Y. Nakabo, H. Saito, T. Ogure, S. Jeong, and Y. Yamada, “Development of a Safety Module for Human-Coexisting Robots,” IEICE Trans. D, Vol.J93-Dm, No.3, pp. 435-442, 2010.

[3] [3] Z. Xin-Yue and T. Abe, “The Developments of the World Smallest Harmonic Drive and AC Servo Actuator,” Proc. of the 2007 JSME Conf. on Robotics and Mechatronics, 2A1-E07, 2007.

[4] [4] K. Kamo, “Nonbacklash ball reduction gear for precision machines and points in its application,” car technolodge, Vol.20, No.6, pp. 45-49.

[5] [5] K. Okamura, “Non backlash reduction gears. K-H-V coronet reduction gears,” Small dictionary in which all of reduction gears supporting rotating performance are understood, Vol.42, No.8, pp. 92-93,1998.

[6] [6] W. Zhu, E. Dupuis, M. Doyon, and J. Piedboeuf, “Adaptive Control of Harmonic Drivers Based on Virtual Decomposition,” Proc. 2008 IEEE/ASME Trans. Mechatronics, Vol.11, No.5, pp. 604-614, 2006.

[7] [7] J. Seonghee and T. Takayuki, “Stable and Quick Standing Motion of I-PENTAR byWhole-body Motion with Force Control,” Proc. 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems IROS2008, pp. 199-204, 2008.

[8] [8] ISO 61508:2005, “Functional Safety of Electrical / Electronic / Programmable Electronic Safety-Related Systems,” 2005.

[9] [9] ISO 13849-1:1999, “Safety of Machinery – Safety related Parts of Control Systems –,” 1999.