Name
Abstract | ||
|---|---|---|
An analysis of an improved joint drive system for the shuttle remote manipulator system (SRMS), capable of sustaining a single actuator failure, is presented. This system employs a differential gear train with dual input actuators driving a single load. The mathematical model for the drive system includes: gearbox flexibility and damping, motor damping, high gear ratio, and high load impedance. The nonlinear dynamic equations for the system reduce to linear form without approximation. Effects of gearbox placement and load sharing are examined. A feedback system that improves overall response is discussed. Simulation results show that the design is able to sustain a single electromechanical actuator failure without impeding the joint's performance. Plans for a hardware implementation to verify the system are given |
Year | DOI | Venue |
|---|---|---|
1991 | 10.1109/ROBOT.1991.132002 | ICRA |
Keywords | Field | DocType |
actuators,aerospace control,drives,feedback,robots,telecontrol,space shuttle,damping,differential gear train,electromechanical actuator,fault tolerant joint drive system,gearbox flexibility,load sharing,nonlinear dynamic equations,shuttle remote manipulator system,space robots,fault tolerant,mathematical model,feedback system,impedance,failure analysis,gears,nonlinear dynamics,space shuttles | Differential (mechanical device),Nonlinear system,Control theory,Space Shuttle,Control engineering,Fault tolerance,Engineering,Input impedance,Robot,Remote manipulator,Actuator | Conference |
Volume | Issue | Citations |
1991 | 1 | 11 |
PageRank | References | Authors |
7.26 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wu, E. | 1 | 11 | 7.26 |
| Diftler, M. | 2 | 11 | 7.26 |
| Hwang, J. | 3 | 11 | 7.26 |
| Chladek, J. | 4 | 11 | 7.26 |