Design and control of a robotic wrist with two collocated axes of compliant actuation
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Start Page
6156
End Page
6161
ISSN
10504729
ISBN (of the container)
9780818634529
9781728173955
0818634529
0818627204
9781479969234
0780365763
9780780389144
9781538660263
078034300X
9781612843865
Date Issued
2014
Author(s)
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.
Event(s)
2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Subjects
Compliant Mechanism
Force Control
Linear Series Elastic Actuator
Wrist Robots
Compliance Control
Compliant Mechanisms
Elasticity
Force Control
Machine Design
Man Machine Systems
Manipulators
Mechanisms
Quality Control
Robotics
Compliant Actuations
Design And Control
Linear Elasticity
Robotic Manipulators
Series Elastic Actuations
Series Elastic Actuators
Spherical Mechanisms
Static And Dynamic Models
Human Robot Interaction
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2014 IEEE International Conference on Robotics and Automation, ICRA 2014. Hong Kong; Hong Kong Convention and Exhibition Center. conference code:107395
Type
conference paper