Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor

Abstract

This paper presents a novel architecture for the actuation and transmission system of a compliant 5-DOF robotic manipulator. The compliant behavior of the robot is achieved using inherently compliant Magneto-Rheological (MR) clutches introduced in antagonistic pairs in every joint of the manipulator. All five antagonistic pairs of MR clutches are driven using a single brushless DC motor in the base of the robot. The MR clutch pairs are coupled to the motor through a system of shafts, belts, and gears. Several possible architectures for realizing the manipulator's drive train are presented, and the advantages and disadvantages of each concept are analyzed. The most efficient architecture for the drive train is selected to complete the design of the manipulator. The kinematics of the designed manipulator and the analyses of its workspace are presented. To the best of our knowledge, this is the first 5-DOF, fully-actuated, compliant robotic manipulator that uses a single DC motor to achieve 5 independent axes of rotations.

Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators

“…Due to this reason, the closed-loop tuning in accordance with Algorithm 2 is done to tune the PD gains of UR10. The MRFT oscillations in the wrist 1 joint are excited iteratively by varying 𝛽 cl and at each iteration, 𝛽 ol is recorded until it reaches the optimal value of 𝛽 in (15) (see Figure 11). The closed-loop beta corresponding to the above open-loop beta is:…”

“…It has been determined that, for executing a relay-based test, a second-order model for the development of the TR is insufficient as it does not correctly represent the overall relative degree of the system. So, an actuator model has been used that comprehensively captures the dynamics including the correct relative degree, and a combined model of the actuator-manipulator system has FIGURE 15 Step response for Reactor X elbow joint with the different tuning approaches.…”

“…There are a wide variety of actuators (hydraulic, pneumatic, and electric), and each form of the actuator has its own structure, operating mechanism, and so the dynamic model. The DC motor actuator is the most popular electric actuator in the area of robotics due to its compactness, cost‐effectiveness, and versatility of the sizes and power levels it provides [15]. They are modelled mostly using second‐order dynamics which are derived using electrical circuit analysis [16].…”

A Computationally Efficient Hysteresis Model for Magneto-Rheological Clutches and Its Comparison with Other Models

“…Rotor and stator disks submerged in MR fluid Magnetic core The prototype MR clutch used in our study is part of the actuation mechanism of the first joint of a 5-DOF compliant robot developed in [13,29]. The MR clutch consists of the rotor (input) and stator (output) disks, an electromagnetic coil, and embedded Hall sensors.…”

“…MR actuators have been used in robotics applications, including rehabilitation robots [12], collaborative robots [13], robot-assisted surgery [14], as well as non-robotics applications, such as suspension systems in railway vehicles [15], brakes [16], and actuators [17].…”