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

Chao Chieh Lan, Jhe Hong Wang, Yi Ho Chen

研究成果: Conference contribution

36 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2010 IEEE International Conference on Robotics and Automation, ICRA 2010
頁面2131-2136
頁數6
DOIs
出版狀態Published - 2010 八月 26
事件2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
持續時間: 2010 五月 32010 五月 7

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
國家United States
城市Anchorage, AK
期間10-05-0310-05-07

All Science Journal Classification (ASJC) codes

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

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