RA-L 20165 citations
One Motor, Two Degrees of Freedom Through Dynamic Response Switching
Elliot Wright Hawkes, David L. Christensen, Morgan T. Pope, Mark R. Cutkosky
Abstract
To minimize weight and cost, it is sometimes desirable to power multiple functions with a single actuator. In this letter, we present a new mechanism for powering two degrees of freedom with a single motor. We introduce a method, termed dynamic response switching (DRS), in which the actuator can drive either of two outputs, forward or backward. Switching is accomplished by briefly dropping the speed below a threshold at a particular orientation. Hence, a wide range of speeds above the threshold is available for both degrees of freedom. We demonstrate the performance available with this device in a proof-of-concept prototype.
BibTeX
@inproceedings{ral2016_onemotortwodegre,
title = {One Motor, Two Degrees of Freedom Through Dynamic Response Switching},
author = {Elliot Wright Hawkes and David L. Christensen and Morgan T. Pope and Mark R. Cutkosky},
booktitle = {RA-L 2016},
year = {2016}
}