Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control

Lens, Thomas; Kunz, Jürgen; Stryk, Oskar von

doi:10.1007/978-3-642-17319-6_38

Cited by 11 publications

(3 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…An impressive example is the DLR "Lightweight Robotic Arm III" (LWR III) [50]. Another example presenting a robot for the manipulation of small masses is described in [75].…”

Section: Inherent Compliancementioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

View full text Add to dashboard Cite

“…An impressive example is the DLR "Lightweight Robotic Arm III" (LWR III) [50]. Another example presenting a robot for the manipulation of small masses is described in [75].…”

Section: Inherent Compliancementioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

View full text Add to dashboard Cite

“…The BioRob-Arm [21] is a lightweight design that utilizes compliant actuation. It is based on an antagonistic, series-elastic actuation that employs cable transmission [22].…”

Section: Existing Low-cost Robotsmentioning

confidence: 99%

Design and Prototyping of a 3DOF Worm-drive Robot Arm

Howard

2023

Adv. sci. technol. eng. syst. j.

View full text Add to dashboard Cite

Many designs for robot arms exist. Here we present an affordable revolute arm, capable of executing simple pick-and-place tasks. The arm employs a double parallelogram structure, which ensures its endpoint angle in the plane of the upper arm remains fixed without the need for additional actuation. Its limbs are fabricated from circular tubes made from bonded carbon fiber, to ensure low moving mass while maintaining high rigidity. All custom structural elements of the arm are produced via 3D printing. We employ worm-drive DC motor actuation to ensure that stationary configurations are maintained without the necessity of continuous motor power. Our discussion encompasses an analysis of the arm's kinematics. A simulation of the arm's operation was carried out in MATLAB, revealing key operational metrics. In conclusion, we achieved extrinsic endpoint position tracking by implementing its inverse kinematics and PID control using a microcontroller. We also demonstrate the arm's functionality through simple movement tracking and object manipulation tasks.

show abstract

“…Aspiring further increased actuator performance, compliant actuators have been studied extensively for reasons of increased safety and robustness through decoupled inertia over the spring and virtually infinite bandwidth for shock absorption [10,11,12]. Secondly, torque control or impedance control can be performed through inexpensive spring deformation measurements.…”

Section: Introductionmentioning

confidence: 99%

Study on electric energy consumed in intermittent series–parallel elastic actuators (iSPEA)

et al. 2017

View full text Add to dashboard Cite

On compliant actuators, intermittent series-parallel elastic actuators (iSPEA) can reduce motor load by variable load cancellation through recruitment of parallel springs by a single motor. However, the potential to reduce electric energy consumed, compared to a traditional stiff driven joint has not yet been evaluated thoroughly both in simulations and experiments. We have developed a 1DOF MACCEPA-based iSPEA test bench with a self-closing intermittent mechanism. An iSPEA driven warehouse robot is used as a case study in simulation. A method to compare iSPEA and traditional actuators is proposed. This paper shows a match between our simulations and experimental results regarding electric energy consumed. Although the chosen gear ratio shows to be detrimental for both the stiff actuator and the iSPEA, the electric energy consumed by the iSPEA is about 25% to 67% of the stiff actuator, for a warehouse robot placing 3 objects on a shelf.

show abstract

Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control

Cited by 11 publications

References 17 publications

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Design and Prototyping of a 3DOF Worm-drive Robot Arm

Study on electric energy consumed in intermittent series–parallel elastic actuators (iSPEA)

Contact Info

Product

Resources

About