Abstract
It has been a challenge to design robots that possess intrinsic compliance, especially for robots that are required to achieve multi-DOF manipulation. Inspired by human limbs, robotic manipulators with internal compliance can perform high-quality force/torque control and better human-robot interaction. This paper presents a robotic wrist whose size, range, and torque output are comparable to those of a human wrist. To achieve two collocated and perpendicular axes of compliant actuation, two linear compliant couplers are proposed. Through slider crank and spherical mechanisms, the linear elasticity is converted to rotary elasticity to control the pitch and yaw torques at the same time. This new compact design realizes series elastic actuation in both axes without increasing size and complexity. Static and dynamic models of the compliant wrist are developed to analyze the motion. Through experiments of a prototype, the wrist is shown to achieve accurate and fast force/torque control. We expect this novel compliant wrist to serve as an alternative for applications involving human-robot interaction.
| Original language | English |
|---|---|
| Article number | 6907766 |
| Pages (from-to) | 6156-6161 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| DOIs | |
| Publication status | Published - 2014 Sep 22 |
| Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7 |
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All Science Journal Classification (ASJC) codes
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Design and control of a robotic wrist with two collocated axes of compliant actuation. / Chu, Cheng Yu; Xu, Jia You; Lan, Chao-Chieh.
In: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 6156-6161.Research output: Contribution to journal › Conference article
TY - JOUR
T1 - Design and control of a robotic wrist with two collocated axes of compliant actuation
AU - Chu, Cheng Yu
AU - Xu, Jia You
AU - Lan, Chao-Chieh
PY - 2014/9/22
Y1 - 2014/9/22
N2 - It has been a challenge to design robots that possess intrinsic compliance, especially for robots that are required to achieve multi-DOF manipulation. Inspired by human limbs, robotic manipulators with internal compliance can perform high-quality force/torque control and better human-robot interaction. This paper presents a robotic wrist whose size, range, and torque output are comparable to those of a human wrist. To achieve two collocated and perpendicular axes of compliant actuation, two linear compliant couplers are proposed. Through slider crank and spherical mechanisms, the linear elasticity is converted to rotary elasticity to control the pitch and yaw torques at the same time. This new compact design realizes series elastic actuation in both axes without increasing size and complexity. Static and dynamic models of the compliant wrist are developed to analyze the motion. Through experiments of a prototype, the wrist is shown to achieve accurate and fast force/torque control. We expect this novel compliant wrist to serve as an alternative for applications involving human-robot interaction.
AB - It has been a challenge to design robots that possess intrinsic compliance, especially for robots that are required to achieve multi-DOF manipulation. Inspired by human limbs, robotic manipulators with internal compliance can perform high-quality force/torque control and better human-robot interaction. This paper presents a robotic wrist whose size, range, and torque output are comparable to those of a human wrist. To achieve two collocated and perpendicular axes of compliant actuation, two linear compliant couplers are proposed. Through slider crank and spherical mechanisms, the linear elasticity is converted to rotary elasticity to control the pitch and yaw torques at the same time. This new compact design realizes series elastic actuation in both axes without increasing size and complexity. Static and dynamic models of the compliant wrist are developed to analyze the motion. Through experiments of a prototype, the wrist is shown to achieve accurate and fast force/torque control. We expect this novel compliant wrist to serve as an alternative for applications involving human-robot interaction.
UR - http://www.scopus.com/inward/record.url?scp=84929179606&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929179606&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907766
DO - 10.1109/ICRA.2014.6907766
M3 - Conference article
AN - SCOPUS:84929179606
SP - 6156
EP - 6161
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
M1 - 6907766
ER -