A compliant constant-force mechanism for adaptive robot end-effector operations

Chao Chieh Lan, Jhe Hong Wang, Yi Ho Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

39 Citations (Scopus)

Abstract

Force regulation is a challenging issue of robot end-effectors when interacting with unknown environments. It often requires sophisticated sensors with computerized control. This paper presents a constant-force mechanism (CFM) to regulate the contact force of a robot end-effector. The proposed CFM is a monolithic compliant mechanism that has no frictional wear and is capable of miniaturization. Due to the passive mechanism, additional sensors and control effort are minimized. We propose a design formulation to find the optimal CFM shape that produces the most constant force. The reaction force to input displacement curve is invariant of size and flexural rigidity. The curve can be manipulated depending on the desirable situations. The CFM is validated through an experiment. When equipped with the CFM, an illustrative end-effector can adapt to a surface of variable height, without additional motion programming. With the merits shown, we expect this type of elastic mechanism can be utilized in robot end-effectors to provide friendly contact with environment.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages2131-2136
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period10-05-0310-05-07

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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