摘要
新闻编辑从发明人提供的背景信息中获得了以下引文：“计算机控制运动的精度要求运动链中的低间隙机械传动，该运动链将马达连接到从动元件/末端执行器上。如果存在间隙（机械松弛，间隙），从动元件不能准确地跟踪电机的运动，从而导致运动误差和可能的动态影响。机械背壳影响机器人的运动性能，包括医疗机器人。然而，大多数机械传动是基于齿轮的，齿轮的齿隙很难控制。很少有机械传动具有最小齿隙或无齿隙，包括滚珠丝杠、滚珠蜗杆、电缆和谐波传动。
Abstract
The following quote was obtained by the news editors from the background informa tion supplied by the inventors: “Precision of computer controlled motion require s low backlash mechanical transmissions in the kinematic chains that link the mo tors to the driven elements/end-effectors. If backlash (mechanical slack, play) is present, the driven element does not exactly follow the motion of the motor c ontributing to kinematic errors and possible dynamic effects. Mechanical backlas h impacts the kinematic performance of robots, including medical robots. However , most mechanical transmissions are based on gears, and with gears the backlash is difficult to control. Few mechanical transmissions have minimal backlash or b acklash-free, including ball-screws, ball-worms, cables, and harmonic drives.
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