Seilrobotergelenk für automatisiertes Hämmern/Cable-driven robotic joint for automated hammering

Abstract

Herkömmliche Roboter sind aufgrund der Konfiguration rigider Gelenke und empfindlicher Getriebe anfällig für Stoßbelastungen. In diesem Beitrag wird gezeigt, dass ein Robotergelenk, basierend auf einer neuartigen Topologie mit drei aktiven und drei passiven Seilen, Stoßbelastungen bewältigen kann, die bei Bearbeitungsaufgaben wie dem Hämmern auftreten können. Conventional robots are vulnerable to high impact loads due to the configuration of rigid joints and fragile gears. This paper shows that a robotic joint based on a novel topology with three active and three passive cables can cope with impact loads as they occur in machining tasks such as hammering.

Assessment of the Suitability of Selected Linear Actuators for the Implementation of the Load-Adaptive Biological Principle of Redundant Motion Generation

“…As an actuator, the tension chording principle is used in a simple form in some dynamic designs, such as biomimetic robots [23]. In many cases, passive and active tension chording elements are used for bending-minimized motion generation and damping [24][25][26][27][28][29][30]. However, in contrast to the biological model, the potential of the principle of the tension chording is usually not fully utilized because the motion generation with a redundant number of muscles is not applied.…”