Two missing components for Solid Media Transmission: Amplifiers and manifolds
Two missing components for Solid Media Transmission: Amplifiers and manifolds
复制标题
固体介质传输缺少两个组件：放大器和歧管
DOI：
10.1109/coase.2016.7743382
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Aaron T. Becker
中科院分区：
文献类型：
--
作者：
Li Huang;Xin Liu;N. Tsekos;Aaron T. Becker
固体介质传输(SMT)是一种传输机器人运动的新技术。SMT类似于气动或液压传动，但使用实心球和间隔件而不是流体来传送力和位移。SMT是近年来发展起来的一种有前景的专门机器人应用解决方案，包括磁共振(MRI)扫描仪中受限空间和强磁场的挑战。到目前为止，与液压和气动装置相比，SMT缺乏两种能力：(1)能够在多个输入之间平衡力的歧管；(2)能够通过换力换取位移分辨率来实现位移缩放的放大器。本文介绍了这些缺失组件的SMT实现，提供了可扩展的设计、参数优化、硬件验证，并对未来的工作提出了建议。
Solid Media Transmission (SMT) is a new technology for transmitting robot actuation. SMT is similar to pneumatic or hydraulic transmissions, but uses solid balls and spacers rather than fluids to transmit force and displacement. SMT has been developed recently as a promising solution for specialized robot applications, including the challenges of confined space and strong magnetic field in Magnetic Resonance (MRI) scanners. Until now, SMT has lacked two capabilities compared to hydraulic and pneumatic devices: (1) manifolds, which can balance force among multiple inputs, and (2) amplifiers, which enable displacement scaling by trading force for displacement resolution. This paper introduces an SMT implementation for each of these missing components, provides scalable designs, parametric optimizations, hardware verifications, and ends with suggestions for future work.
DOI：
10.1115/1.1785803
发表时间：
2004-08-01
影响因子：
1.7
作者：
Larson, BT;Erdman, AG;Koutlas, LG
通讯作者：
Koutlas, LG