Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion
Hoi Man Lam,W. Jared Walker,Lucas Jonasch,Dimitri Schreiber,Michael C. Yip,Hoi Man Lam,W. Jared Walker,Lucas Jonasch,Dimitri Schreiber,Michael C. Yip
Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However, the stiffness-enabling pressure preloads can form a tradeoff against bearing loading in some rolling diaphragm layouts, and transmission setup can be difficult. U...
