File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/TMECH.2019.2929941
- Scopus: eid_2-s2.0-85074261654
- WOS: WOS:000493174900035
- Find via
Supplementary
- Citations:
- Appears in Collections:
Article: Small-beads Transmission and Its Application to Robot Joints
Title | Small-beads Transmission and Its Application to Robot Joints |
---|---|
Authors | |
Keywords | small-beads power transmission resistance coefficient robot joint force transmission ratio |
Issue Date | 2019 |
Publisher | IEEE. 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? |
Abstract | Small-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 Identifier | http://hdl.handle.net/10722/273914 |
ISSN | 2023 Impact Factor: 6.1 2023 SCImago Journal Rankings: 2.133 |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Li, Y | - |
dc.contributor.author | Ren, T | - |
dc.contributor.author | Li, Y | - |
dc.contributor.author | Chen, YH | - |
dc.date.accessioned | 2019-08-18T14:51:13Z | - |
dc.date.available | 2019-08-18T14:51:13Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 5 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10722/273914 | - |
dc.description.abstract | Small-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.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 | - |
dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | - |
dc.rights | IEEE/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.subject | small-beads | - |
dc.subject | power transmission | - |
dc.subject | resistance coefficient | - |
dc.subject | robot joint | - |
dc.subject | force transmission ratio | - |
dc.title | Small-beads Transmission and Its Application to Robot Joints | - |
dc.type | Article | - |
dc.identifier.email | Chen, YH: yhchen@hkucc.hku.hk | - |
dc.identifier.authority | Chen, YH=rp00099 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/TMECH.2019.2929941 | - |
dc.identifier.scopus | eid_2-s2.0-85074261654 | - |
dc.identifier.hkuros | 301950 | - |
dc.identifier.volume | 24 | - |
dc.identifier.issue | 5 | - |
dc.identifier.eissn | 1941-014X | - |
dc.identifier.isi | WOS:000493174900035 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1083-4435 | - |