Study on Robotic Differential-drive Actuator with Parallel Velocity Control

DOI

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.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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  - 10.2991/icmra-15.2015.218
ID  - Gao2015/04
ER  -