Backlash Control via Redundant Drives: An Experimental Verification

[+] Author and Article Information
Lung-Wen Tsai

Mechanical Engineering Department and Institute for Systems Research, The University of Maryland, College Park MD 20742

Sun-Lai Chang

The University of Maryland

J. Mech. Des 116(3), 963-967 (Sep 01, 1994) (5 pages) doi:10.1115/1.2919477 History: Received June 01, 1992; Revised January 01, 1994; Online June 02, 2008


In this paper, the concept of using redundant unidirectional drives for the control of gear backlash is demonstrated with a two-DOF (Degree-Of-Freedom) prototype manipulator. Two experiments, one with redundant drives and the other without redundant drives, were conducted to establish a proof of the concept. The experimental results demonstrated that the concept can improve the repeatability of a manipulator by an order of magnitude.

Copyright © 1994 by The American Society of Mechanical Engineers
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