NDLI: The utilization of duplex worm gears in robot manipulator arms: A design, build and test approach

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The utilization of duplex worm gears in robot manipulator arms: A design, build and test approach

Content Provider	IEEE Xplore Digital Library
Author	Henson, P. Marais, S.
Copyright Year	2012
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Cape Town, Cape Town, South Africa (Henson, P.; Marais, S.)
Abstract	This paper reports on the design, construction and testing of the manipulator arm that is to be fitted to UCTs Urban Search and Rescue Robot (USRR), named the Ratel. Of particular interest is the utilization of adjustable backlash dual lead (duplex) worm gears in the manipulator arms joints. These gears were incorporated into the arms three most significant joints, i.e. the turntable, shoulder and first elbow. They are implemented to increase positional accuracy of the end effector and to reduce shake in the video feeds by removing free-play in the joints. Custom gearbox housings allowing for adjustment of these gears, as well as other requirements such as permitting continuous rotation and internal wiring, were developed and are discussed in detail in this report. Conclusions are presented based on the authors findings.
Starting Page	1
Ending Page	4
File Size	1613227
Page Count	4
File Format	PDF
ISBN	9781467351829
e-ISBN	9781467351843
DOI	10.1109/ROBOMECH.2012.6558461
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-26
Publisher Place	South Africa
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adjustable Backlash Gears Wheels Manipulators Robot sensing systems Urban Search and Rescue Robot Robot Manipulator Arm Dual Lead Worm Gears Grippers Joints Zero Backlash Duplex Worm Gears
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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The utilization of duplex worm gears in robot manipulator arms: A design, build and test approach

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