Development of one-DOF robot arm equipped with mechanical impedance adjuster

Morita, Takeshi; Sugano, Shigeki

doi:10.1109/iros.1995.525828

Cited by 33 publications

(9 citation statements)

References 5 publications

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“…The programmable passive impedance component using an antagonistic nonlinear spring and a binary damper was proposed to mimic the human muscles [2]. The mechanical impedance adjuster with a variable spring and an electromagnetic brake was developed [3]. The programmable, passive compliance-based shoulder mechanism using an elastic link was proposed [4].…”

Section: Introductionmentioning

confidence: 99%

Safe link mechanism based on nonlinear stiffness for collision safety

Park

Kim

Song

et al. 2008

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

Safe link mechanism based on nonlinear stiffness for collision safety

Park

Kim

Song

et al. 2008

Mechanism and Machine Theory

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“…Mechanisms which do not rely on pretension include the AWAS [12], AWAS-II [13], MIA [14,15], the magnetic mechanism of Choi et al [16] and the CompACT [17]. The MIA and Choi mechanisms do not allow the use of all of their elastic potential at all stiffness settings.…”

Section: Selecting Variable Impedance Mechanismsmentioning

confidence: 99%

Rapid Manufacture of Novel Variable Impedance Robots

Enoch

Vijayakumar

2015

Journal of Mechanisms and Robotics

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Variable stiffness and variable damping can play an important role in robot movement, particularly for legged robots such as bipedal walkers. Variable impedance also introduces new control problems, since there are more degrees of freedom to control, and the resulting robot has more complex dynamics. In this paper, we introduce novel design and fabrication methodologies that are capable of producing cost effective hardware prototypes suitable for investigating the efficacy of impedance modulation. We present two variable impedance bipedal platforms produced using a combination of waterjet cutting and 3D printing, and a novel fused deposition modeling (FDM) 3D printing based method for producing hybrid plastic/metal parts. We evaluate walking trajectories at different speeds and stiffness levels.

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“…Controlling the joint elasticity is crucial [1], to reduce the mechanical damages and to ensure system stability. This was addressed in the literature by providing active or passive compliance control [2], [3], which would change the elasticity of the joint, based on the task requirement. The active methods need force/torque sensors or torque-controlled motors, which are highly expensive, and the motors are generally regulated through software programming.…”

Section: Introductionmentioning

confidence: 99%

Design of a Variable Stiffness Joint Module to Quickly Change the Stiffness and to Reduce the Power Consumption

2020

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Variable stiffness actuators (VSA) are finding wide applications in robotics to enhance safety during interactions with stiff environments. Researchers have proposed various design architectures like antagonistic actuation, which requires both the motors to be powered simultaneously for varying the stiffness or equilibrium position. In this paper, the design of a novel joint module, named as variable stiffness joint module (VSJM), is proposed, which consists of a lead-screw arrangement for varying the stiffness range and a cam based mechanism to change the stiffness within the set range quickly. The cam profile has been synthesized to maximize the stiffness variation as well as to maintain the cam and cam follower in static equilibrium when the output link is in the equilibrium position. This was achieved by properly positioning and orienting the friction cones at the contact points. By mechanically compensating the moment due to unbalanced forces at the contact points, the continuous usage of stiffness motor has been eliminated, leading to reduced power consumption. Details of the proposed mechanism are presented along with the mathematical model for cam profile synthesis and static analysis. A simplified prototype of the proposed design has been fabricated to perform the experiments. A hammering-a-nail experiment has been conducted to show the capability of the mechanism, and the results are presented.

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Development of one-DOF robot arm equipped with mechanical impedance adjuster

Cited by 33 publications

References 5 publications

Safe link mechanism based on nonlinear stiffness for collision safety

Safe link mechanism based on nonlinear stiffness for collision safety

Rapid Manufacture of Novel Variable Impedance Robots

Design of a Variable Stiffness Joint Module to Quickly Change the Stiffness and to Reduce the Power Consumption

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