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- W2140986312 abstract "As a part of the robot research and application programme FAIR, the Eindhoven University of Technology is developing a modular robot system. This paper deals with the first module of that system i.e. a linear actuator. The major specifications of the linear actuator are: positioning accuracy Letter than 0.01 mm, speed up to 1 m/s and a maximum acceleration of 5 m/s2 for a mass of 50 kg. In view of these requirements the mechanical construction is designed fairly stiff, while at the same time the masses are kept minimal. The dc-motor is placed on the moving part of the actuator and is governed by an advanced microcomputer control system. The translation of the actuator is obtained by a spindle with a ballscrew nut. Stickslip and backlash are minimized through the application of a special ball- and roller bearing system. A dynamic analysis of the prototype of the actuator has been carried out in order to study the properties of the mechanical construction. Therefore, the driving system has been modeled as a three-degrees-of-freedom system which parameters are measured or estimated. Parameter adaptation techniques eliminate smoothly the differences between the prototype and the model. This adapted model supplies relevant information on the dynamic behaviour of the construction. It shows that the actuator can be considered as a one-degree-of-freedom system up to a frequency of 60 Hz. For higher frequencies the model supplies a formula for the transfer function which is essential for the control system. The results show very clearly the effectiveness of the use of discrete mass models in combination with Fourier analysis and parameter adaptation techniques." @default.
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- W2140986312 date "1985-01-01" @default.
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- W2140986312 title "On the Design of a Linear Actuator for a Modular Robot System" @default.
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- W2140986312 doi "https://doi.org/10.1016/s0007-8506(07)61754-5" @default.
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