Design and control of a robotic wrist with two collocated axes of compliant actuation

Cheng Yu Chu, Jia You Xu, Chao-Chieh Lan

研究成果: Conference article同行評審

6 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號6907766
頁(從 - 到)6156-6161
頁數6
期刊Proceedings - IEEE International Conference on Robotics and Automation
DOIs
出版狀態Published - 2014 九月 22
事件2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
持續時間: 2014 五月 312014 六月 7

All Science Journal Classification (ASJC) codes

  • 軟體
  • 人工智慧
  • 控制與系統工程
  • 電氣與電子工程

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