The Design and Control of a Novel Robot Structure with Differential Drive Units
A novel robot has been designed and constructed as part of a project to develop water hydraulic systems. A planar five-bar mechanism is driven through two co-axial shafts to position the end effector anywhere within a circular working area in the horizontal plane. No end stops are required. Each shaft is driven by two Fenner 06 water motors or two rotary oil motors via a differential drive unit (DDU). This allows great flexibility over motor speeds and control strategies, in particular allowing low and zero speed output shaft movements whilst keeping the motors running at well-controllable speeds. The robot design is described with practical results from different control strategies for velocity and position control.
KeywordsJoint Velocity Differential Drive Robot Structure Toothed Belt Small Steady State Error
Unable to display preview. Download preview PDF.
- 1.P M Taylor, J Kieffer, A J Wilkinson, R Oldaker & J Gilbert, ‘A Water Hydraulic Robot’, CDC Dec ‘83.Google Scholar
- 2.Q Guo, ‘Mechanism Design and Analysis for a Differentially Driven, Five Bar, Hydraulic Robot’, August 1992, University of Hull MSc Dissertation.Google Scholar
- 3.J Grindley, Friction and Inertia Modelling for a Differentially Driven, Five Bar, Hydraulic Robot’, September 1993, University of Hull MSc Dissertation.Google Scholar