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Article: Small-beads Transmission and Its Application to Robot Joints

TitleSmall-beads Transmission and Its Application to Robot Joints
Authors
Keywordssmall-beads
power transmission
resistance coefficient
robot joint
force transmission ratio
Issue Date2019
PublisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516
Citation
IEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 5 How to Cite?
AbstractSmall-beads are everywhere in our daily life. A collection of small-beads can behave macroscopically like liquid and flow. This paper presents a power transmission method referred to as “small-beads transmission” that can transmit power in all directions and convert linear motion into rotational motion and vise versa. The force transmission ratio is dependent on the resistance coefficient that is proposed to reflect the friction of small-beads and the dynamic responses of the internal particle force chains to external forces. Experiments on the resistance coefficient in pipes are conducted. The experimental results show that the proposed transmission method has great capability to provide isolation from external vibration and shock. Based on the experimental results, a small-beads transmission joint is designed and applied to robot legs to achieve human gait-like movement. This concept is also applicable to designing robotic joints and limbs, or orthoses and exoskeleton devices. The configuration of small-beads transmission is similar to that of the conventional hydraulic or pneumatic transmission in cylinder-piston system. However, the proposed method does not necessitate the use of tight sealing as that needed by hydraulic and pneumatic transmission, it is much easier to fabricate and also fit for hazardous environments.
Persistent Identifierhttp://hdl.handle.net/10722/273914
ISSN
2020 Impact Factor: 5.303
2020 SCImago Journal Rankings: 1.935
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorLi, Y-
dc.contributor.authorRen, T-
dc.contributor.authorLi, Y-
dc.contributor.authorChen, YH-
dc.date.accessioned2019-08-18T14:51:13Z-
dc.date.available2019-08-18T14:51:13Z-
dc.date.issued2019-
dc.identifier.citationIEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 5-
dc.identifier.issn1083-4435-
dc.identifier.urihttp://hdl.handle.net/10722/273914-
dc.description.abstractSmall-beads are everywhere in our daily life. A collection of small-beads can behave macroscopically like liquid and flow. This paper presents a power transmission method referred to as “small-beads transmission” that can transmit power in all directions and convert linear motion into rotational motion and vise versa. The force transmission ratio is dependent on the resistance coefficient that is proposed to reflect the friction of small-beads and the dynamic responses of the internal particle force chains to external forces. Experiments on the resistance coefficient in pipes are conducted. The experimental results show that the proposed transmission method has great capability to provide isolation from external vibration and shock. Based on the experimental results, a small-beads transmission joint is designed and applied to robot legs to achieve human gait-like movement. This concept is also applicable to designing robotic joints and limbs, or orthoses and exoskeleton devices. The configuration of small-beads transmission is similar to that of the conventional hydraulic or pneumatic transmission in cylinder-piston system. However, the proposed method does not necessitate the use of tight sealing as that needed by hydraulic and pneumatic transmission, it is much easier to fabricate and also fit for hazardous environments.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516-
dc.relation.ispartofIEEE/ASME Transactions on Mechatronics-
dc.rightsIEEE/ASME Transactions on Mechatronics. Copyright © IEEE.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectsmall-beads-
dc.subjectpower transmission-
dc.subjectresistance coefficient-
dc.subjectrobot joint-
dc.subjectforce transmission ratio-
dc.titleSmall-beads Transmission and Its Application to Robot Joints-
dc.typeArticle-
dc.identifier.emailChen, YH: yhchen@hkucc.hku.hk-
dc.identifier.authorityChen, YH=rp00099-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TMECH.2019.2929941-
dc.identifier.scopuseid_2-s2.0-85074261654-
dc.identifier.hkuros301950-
dc.identifier.volume24-
dc.identifier.issue5-
dc.identifier.eissn1941-014X-
dc.identifier.isiWOS:000493174900035-
dc.publisher.placeUnited States-
dc.identifier.issnl1083-4435-

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