Work density analysis of adjustable stiffness mechanisms

Marius Stücheli, A. Foehr, M. Meboldt
{"title":"Work density analysis of adjustable stiffness mechanisms","authors":"Marius Stücheli, A. Foehr, M. Meboldt","doi":"10.1109/ICRA.2016.7487190","DOIUrl":null,"url":null,"abstract":"Mechanical compliance is important for a robust and safe physical interaction of robots with humans and unstructured environments. Using adjustable stiffness, the advantages of compliant and stiff systems can be combined and thus the versatility of a robot increased. The realisation of adjustable stiffness in robot joints through compliant mechanisms shows several advantages over active control approaches, especially in terms of robustness. The compactness of adjustable stiffness mechanisms (ASMs) is important for their integration in robotic systems. An important aspect of compactness in ASMs is the storable work per volume, i.e. the work density. Therefore we propose a set of benchmarks to analyse the work density of elastic mechanisms on different design levels. The application of these benchmarks is demonstrated on a novel ASM, which is part of the adjustable impedance element AIE Uno, and on DLR's FSJ. The analysis of these ASMs demonstrates the application and the benefit of the proposed benchmarks. The benchmarks support the choice between alternative solutions and the identification of improvement potential in an existing design.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Robotics and Automation (ICRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA.2016.7487190","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4

Abstract

Mechanical compliance is important for a robust and safe physical interaction of robots with humans and unstructured environments. Using adjustable stiffness, the advantages of compliant and stiff systems can be combined and thus the versatility of a robot increased. The realisation of adjustable stiffness in robot joints through compliant mechanisms shows several advantages over active control approaches, especially in terms of robustness. The compactness of adjustable stiffness mechanisms (ASMs) is important for their integration in robotic systems. An important aspect of compactness in ASMs is the storable work per volume, i.e. the work density. Therefore we propose a set of benchmarks to analyse the work density of elastic mechanisms on different design levels. The application of these benchmarks is demonstrated on a novel ASM, which is part of the adjustable impedance element AIE Uno, and on DLR's FSJ. The analysis of these ASMs demonstrates the application and the benefit of the proposed benchmarks. The benchmarks support the choice between alternative solutions and the identification of improvement potential in an existing design.
可调刚度机构的功密度分析
机械顺应性对于机器人与人类和非结构化环境进行稳健和安全的物理交互非常重要。使用可调刚度,柔性和刚性系统的优点可以结合起来,从而增加了机器人的多功能性。通过柔性机构实现机器人关节的可调刚度显示了主动控制方法的几个优点,特别是在鲁棒性方面。可调刚度机构的紧凑性对其在机器人系统中的集成具有重要意义。asm紧凑性的一个重要方面是每体积的可存储功,即功密度。因此,我们提出了一套基准来分析弹性机构在不同设计水平上的工作密度。在可调阻抗元件AIE Uno的新型ASM和DLR的FSJ上演示了这些基准测试的应用。对这些asm的分析演示了所建议的基准的应用和好处。基准测试支持在可选解决方案之间进行选择,并识别现有设计中的改进潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信