Design and dynamics model of a lightweight series elastic tendon-driven robot arm

Abstract-Movement primitives are concise movement representations that can be learned from human demonstrations, support generalization to novel situations and modulate the speed of execution of movements. The speed modulation mechanisms proposed so far are limited though, allowing only for uniform speed modulation or coupling changes in speed to local measurements of forces, torques or other quantities. Those approaches are not enough when dealing with general velocity constraints. We present a movement primitive formulation that can be used to non-uniformly adapt the speed of execution of a movement in order to satisfy a given constraint, while maintaining similarity in shape to the original trajectory. We present results using a 4-DoF robot arm in a minigolf setup.

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“…In these experiments, the BioRob, a robot arm consisting of four elastically actuated joints [17], has been used.…”

Section: Methodsmentioning

confidence: 99%

Movement primitives with multiple phase parameters

Ewerton

Maeda

Neumann

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…The another type of RFSEA which is called MARIONET (Moment arm Adjustment for Remote Induction Of Net Effective Torque) was proposed in [19] as in Figure 7b, which utilized the wire driven transmission with pulley. MARIONET has the structure as shown in Figure 6b, where the motor is fixed to the base and the elastic element is inserted before the pulley of the end-link.…”

Section: Reaction Force-sensing Series Elastic Actuator (Rfsea)mentioning

confidence: 99%

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Lee

Kwak

et al. 2017

Actuators

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Abstract:The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to satisfy many requirements necessary for the applications. This paper provides a theoretical framework to categorize and compare these various configurations of SEAs. The general structure and model of SEA is provided, and SEA configurations are categorized into Force-sensing Series Elastic Actuator, Reaction Force-sensing Series Elastic Actuator and Transmitted Force-sensing Series Elastic Actuator, based on the relative location of the spring. Criteria such as Force sensitivity, Compliance and Transmissibility of SEA are derived and compared using actual SEAs that have been developed previously.

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“…[11] designed a serial tendon-driven manipulation system which used coupled tendon connections. Recently, Lens and Stryk [12] developed a new tendon-driven lightweight manipulator. This manipulator was so thin and lightweight that it can provide safe manipulation in the human-robot coexisting environment.…”

Section: Introductionmentioning

confidence: 99%

Stiffness characteristics of new modular type antagonistic tendon-driven joint systems

Jeong

Cho

Kang

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents a new antagonistic tendondriven joint (TDJ) which has an advantage of enhanced stiffness characteristics. Detailed mathematical analyses on the stiffness of typical TDJs are worked out to compare the stiffness among them. Prototypes of the proposed TDJ design are introduced in the form of packaged modular structure that merges two TDJs generating a combined roll-pitch motion or similar ones. Numerical examples are given to confirm the superior stiffness of the proposed TDJ design.

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Design and dynamics model of a lightweight series elastic tendon-driven robot arm

Cited by 55 publications

References 22 publications

Movement primitives with multiple phase parameters

Movement primitives with multiple phase parameters

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Stiffness characteristics of new modular type antagonistic tendon-driven joint systems

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