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New intelligent power-assist systems based on differential transmission

Published online by Cambridge University Press:  13 May 2003

D. Šurdilović ,
R. Bernhardt  and
L. Zhang
D. Šurdilović
Affiliation:
Fraunhofer Institute IPK-Berlin, Department of Automation and Robotics, Pascalstr. 8–9, 10587 Berlin (Germany)
R. Bernhardt
Affiliation:
Fraunhofer Institute IPK-Berlin, Department of Automation and Robotics, Pascalstr. 8–9, 10587 Berlin (Germany)
L. Zhang
Affiliation:
Harbin Engineering University, 15001 Harbin (China) currently Postdoc-Fellow at IPK
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Summary

This paper presents a novel Cobotic system with differential CVT. The new system is significantly cheaper, simpler to control and more efficient than Cobots with S-CVTs. Both path-guidance and power-assist functions can be simply realized with the new system. Basic structures, kinematic and dynamic models, as well as control algorithms, which are essential for design, control synthesis and control of the system, are briefly presented in the paper.

Keywords

Intelligent power assistCobotDifferential CVTInteraction control

Information

Type
Research Article
Information
Robotica , Volume 21 , Issue 3 , June 2003 , pp. 295 - 302
Copyright
Copyright © Cambridge University Press 2003

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