Adaptronic couplers — An alternative drive principle

Abstract

Complex mechatronic systems with a number of independently driven elements generally employ an equal number of drive elements. Commonly, these systems are actuated by electric motors and hence electric energy is transmitted through them. In various systems, however, mechanical energy may be distributed through the system instead of electrical energy and may be used directly to drive output elements. Using electric servo motors and servo drives, highly dynamic torque, velocity, and position control of output elements can be achieved easily. However, there is no machine component that can transmit a variable torque from an input shaft to an output element and enable highly dynamic torque, velocity, and position control of the output element. Adaptronic couplers are novel machine components which can close this gap. This paper introduces the concept of adaptronic couplers and addresses potential applications in mechatronics/robotics. Various experimental results allow a preliminary evaluation of the viability of the approach as well as a discussion of constructional and control issues still to be addressed.