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In pursuit of dynamic range: Using parallel coupled actuators to overcome hardware limitations

  • Chapter 6 Modeling And Design
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

We report on a new actuator concept which combines two actuators to create a micro-macro actuator. The new actuator has improved force resolution and bandwidth. Unlike previous micro-macro robots which used actuators coupled in series to achieve positioning resolution, the actuators in this system are coupled in parallel using a compliant transmission to achieve force resolution. A parallel coupled micro-macro actuator (PaCMMA) which embodies these ideas is described. A control algorithm is presented. A series of tests were performed and the PaCMMA is compared to two single actuator systems. We have obtained small signal force bandwidth of 60 Hz and force resolution of 0.12%. The PaCMMA concept is shown to increase force range and reduce mechanical impedance while preserving small signal force bandwidth.

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Authors and Affiliations

  1. Department of Mechanical Engineering Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA

    John B. Morrell & J. Kenneth Salisbury

Authors
  1. John B. Morrell
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  2. J. Kenneth Salisbury
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Morrell, J.B., Salisbury, J.K. (1997). In pursuit of dynamic range: Using parallel coupled actuators to overcome hardware limitations. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035217

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  • DOI: https://doi.org/10.1007/BFb0035217

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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