{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:44:42Z","timestamp":1767649482135,"version":"3.38.0"},"reference-count":31,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1996,10,1]],"date-time":"1996-10-01T00:00:00Z","timestamp":844128000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1996,10]]},"abstract":"<jats:p> This article studies the ways that the performance of direct drive (DD) serial robots changes as system size is changed. We are particularly interested in the physical laws for scaling down direct drive arms to small sizes. Using theoretical scaling analysis, we show that there is a net physical performance advantage to small direct drive arms. A key factor for direct drive robot performance is the torque-to-mass ratio of the actuators, U. We show how U varies with the scale of DD actuators, and we also calculate how the dynamic performance varies with scale and U. We compare our calculations with experimental measurements of actuators of various sizes taken from small hard disk drives and compare them with published data for larger motors. Finally, we describe a prototype, five- axis, direct drive serial arm having a reach of 10 cm and a work volume of about 136 cm<jats:sup>3<\/jats:sup>. Some potential applications are briefly discussed. <\/jats:p>","DOI":"10.1177\/027836499601500503","type":"journal-article","created":{"date-parts":[[2007,3,5]],"date-time":"2007-03-05T01:24:06Z","timestamp":1173057846000},"page":"459-472","source":"Crossref","is-referenced-by-count":17,"title":["Scaling of Direct Drive Robot Arms"],"prefix":"10.1177","volume":"15","author":[{"given":"Blake","family":"Hannaford","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500"}]},{"given":"Pierre-Henry","family":"Marbot","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500, 78401 Chatou Cedex, Paris, France"}]},{"given":"Pietro","family":"Buttolo","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500"}]},{"given":"Manuel","family":"Moreyra","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500"}]},{"given":"Steven","family":"Venema","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering University of Washington Seattle, Washington 98195-2500"}]}],"member":"179","published-online":{"date-parts":[[1996,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1038\/scientificamerican0491-130"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3269106"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/2438.001.0001"},{"volume-title":"Proc. SPIE Telemanipulator and Tele-presence Technologies Symposium","author":"Buttolo, P.","key":"atypb4"},{"key":"atypb5","first-page":"2292","author":"Colgate, J.E.","year":"1991","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"atypb6","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig, J.","year":"1991","edition":"2"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-12-012740-5.50006-2"},{"volume-title":"Proc. Intelligent Robots and Systems (IROS 94)","author":"Hannaford, B.","key":"atypb8"},{"volume-title":"Proc. AIAA Space Programs and Technologies Conference","author":"Hannaford, B.","key":"atypb9"},{"volume-title":"A comparative analysis of actuator technologies for robotics","year":"1991","author":"Hollerbach, J.M.","key":"atypb10"},{"volume-title":"Proc. IEEE Intl. Conf. on Robotics and Automation","author":"Hollerbach, J.M.","key":"atypb11"},{"volume-title":"Proc. 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