Toward relative mass with a pulley-baseddifferential transmission

Authors:
Leo J. Stocco;Matthew J. Yedlin
Affiliations:
Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada;Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada
Venue:
IEEE Transactions on Robotics
Year:
2009

Citing 3
Cited 0

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Abstract

In the well-known electromechanical analogy that converts between electrical and mechanical system representations, mass is the dual of a grounded capacitor. Consequently, any electrical circuit that contains ungrounded capacitors, such as a filter, does not have a mechanical equivalent. A new mechanical system element representing a pulley-based differential transmission is proposed, which, when connected to a mass, is shown to simulate a capacitor in the general case. This new differential mass model provides an additional conceptual framework tomodel complex mechanical systems such as robotic manipulators.