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Ball screw
About: Ball screw is a research topic. Over the lifetime, 11742 publications have been published within this topic receiving 46252 citations.
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TL;DR: In this paper, the design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor is discussed. And the actuator's performance is demonstrated through a series of experiments designed to operate at the limits of its mechanical and control capability.
Abstract: This paper discusses design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor. A design is introduced that pushes the performance boundary of electric series elastic actuators by using high motor voltage coupled with an efficient drivetrain to enable large continuous actuator force while retaining speed. Compact size is achieved through the use of a novel piston-style ball screw support mechanism and a concentric compliant element. Generic models for two common series elastic actuator configurations are introduced and compared. These models are then used to develop controllers for force and position tracking based on combinations of PID, model-based, and disturbance observer control structures. Finally, our actuator's performance is demonstrated through a series of experiments designed to operate the actuator at the limits of its mechanical and control capability.
332 citations
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TL;DR: In this paper, a ball screw device provided with a screw shaft having on the outer peripheral surface thereof a spiral ball rolling groove, a nut assembly having a load region composed of a spiral load rolling groove facing the ball rolling hole of the screw shaft and a non-load region connecting for communication start and terminal ends of the load region with each other to define an endless track for balls, and a ball connecting body formed of a multiplicity of balls rolling on the endless track of the nut assembly and a connecting body for rotatably holding the balls in an aligned state, wherein a
Abstract: A ball screw device provided with a screw shaft having on the outer peripheral surface thereof a spiral ball rolling groove, a nut assembly having a load region composed of a spiral load rolling groove facing the ball rolling groove of the screw shaft and a non-load region connecting for communication start and terminal ends of the load region with each other to define an endless track for balls, and a ball connecting body formed of a multiplicity of balls rolling on the endless track of the nut assembly and a connecting body for rotatably holding the balls in an aligned state, wherein a guide groove is formed in the endless track of balls for guiding the connecting body of the ball connecting body to the non-load region so that the respective balls move the connecting body in the load region and the connecting body guides and moves the respective balls in the non-load region of the endless track, and leading portions are formed at least both end portions of the non-load region near the load region for guiding the connecting body along a direction in which the balls moving in the load region advance. Transfer of the balls between the load region and the non-load region in the endless track is made smoothly to achieve smooth circulation of the balls.
206 citations
TL;DR: The fluid inerter presented here has advantages over mechanical ball screw devices in terms of simplicity of design and it can be readily adapted to implement various passive network layouts.
Abstract: Mechanical spring-damper network performance can often be improved by the inclusion of a third passive component called the inerter. This ideally has the characteristic that the force at the terminals is directly proportional to the relative acceleration between them. The fluid inerter presented here has advantages over mechanical ball screw devices in terms of simplicity of design. Furthermore, it can be readily adapted to implement various passive network layouts. Variable orifices and valves can be included to provide series or parallel damping. Test data from prototypes with helical tubes have been compared with models to investigate parasitic damping effects of the fluid.
159 citations
29 Jun 1998
TL;DR: In this paper, a disturbance observer-based algorithm for nonlinear friction compensation in table drive systems to achieve the high accurate trajectory control is presented, where a simple and high accurate observer can be designed on the basis of the analyzed friction characteristic using the disturbance observer based compensation.
Abstract: This paper presents a disturbance observer-based algorithm for nonlinear friction compensation in table drive systems to achieve the high accurate trajectory control In order to design an effective compensator, dynamic characteristics of the friction are examined and, as a result, a simple and high accurate observer can be designed on the basis of the analyzed friction characteristic Using the disturbance observer based compensation, the precise velocity/position control can be attained without the response delay which is caused by the restricted control bandwidth in conventional compensation algorithms Experimental results show the significant performance improvement of the proposed algorithm in the trajectory control with low feed rate and velocity reversal motion
152 citations
TL;DR: In this article, the FEM model is integrated into a mechatronic model of the axis control system and the behaviour of the position and speed control loop is simulated, which is a prerequisite for FEM modelling of a complete machine tool based on feed drives of this type.
139 citations