力覚提示システムのためのコンパクト型歯付ベルト駆動系の特性に関する研究(機械力学,計測,自動制御)

概要

論文の詳細を見る
Application of force display system is expeded over the various fields such as tele-operation, medical care training and amusement. The control system that uses kinematic information for displaying force is adopted in almost force display systems developed for commercial products. However they have been troubled by low stiffness, backlash and so on in drive system. High stiffness, small backlash and little friction loss are needed for the high performance of the force display system. We compare the characteristics of three drive systems : wire drive, flat belt drive and timing belt drive that are well used for force display system. From the comparison of the three drive systems, it was known that the timing belt drive is suitable force display system. Additionally, we suggested a compact-type timing belt drive that realized low system inertia and showed the compact-type is the excellent drive system for force display system.
社団法人日本機械学会の論文
2003-01-25