Method and apparatus for providing mechanical amplification

A robot drive system for providing precision, high-power output, comprising:

• power drive means for providing a predetermined quantity of rotary power, said power drive means including a drive motor and an elongated cylinder wherein said drive motor is adapted to rotate said cylinder;
• control means for interfacing a user with the robot drive system, said electronic control means being adapted to receive user input commands indicative of the desired output mechanical motion, said electronic control means including memory for storing data indicative of the user supply mechanical motion commands, said electronic control means being responsive to the user supplied commands and said memory for supplying electrical control signals;
• mechanical motion control means including a control arm for controlling the motion of said linear drive means, said mechanical motion control means being responsive to said electrical control signal for displacing said control arm;
• and
• linear drive means including an output arm for providing the robot drive system output, said linear drive system being responsive to displacement of said control arm for traversing said cylinder and thereby driving said output arm.

A method for controlling a mechanical amplifier in a manner such that the mechanical amplifier is capable of moving loads of various sizes independent of the quantity of driving power supplied to the amplifier, said method comprising the steps of:

• (a) monitoring the speed at which the load is being moved by the mechanical amplifier;
• (b) determining whether the speed at which the load is being moved by the mechanical amplifier is less than a predetermined minimum speed and, if not, returning to step (a), and, if the speed at which the load is moving is less than the predetermined minimum speed performing step (c);
• and
• (c) reducing the speed at which the load is moved by the mechanical amplifier and returning to step one.