Abstract
Action of robot with modules which have adaptive electric drives is considered. Adaptive electric drive contains electric motor and adaptive connecting gear with two degrees of freedom. The adaptive gear has a form of closed differential mechanism and is extremely simple. It changes a transfer ratio depending on loading continuously only at the expense of mechanical properties and does not demand any control. The equations of adaptive mechanism parameters interconnection are worked out. Definability of the adaptive electric drive motion is confirmed by experimental research. Stop regime of the module motion takes place when working body of the module is motionless. This regime allows to avoid an overloading and to overcome emergencies. In the robot with adaptive drives of modules the stop regime of motion can be overcome at the expense of motions of other modules leading to decrease of resistance.
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This work is partially supported by MON RK. The author also gratefully acknowledges the helpful comments and suggestions of the reviewers, which have improved the presentation.
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Ivanov, K.S. (2014). Action of Robot with Adaptive Electric Drives of Modules. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_63
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DOI: https://doi.org/10.1007/978-3-319-07058-2_63
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