A Variable Stiffness Joint using Leaf Springs for Robot Manipulators
- A Variable Stiffness Joint using Leaf Springs for Robot Manipulators
- 최준호; 홍성훈; 이우섭; 강성철
- Variable stiffness joint
- Issue Date
- ICRA 2009
- , 4363-4368
- Safety of a manipulator designed to be used at
home requires different approach than industrial robots, where
safety is achieved mainly by decreasing the interaction with
humans. Robots for applications at home, however, require
frequent interaction with humans. Introducing compliant component
gives the answer to the safety issue at the cost of
performance degradation. In order to reduce the performance
degradation, manipulators equipped with variable stiffness
have been studied by many researchers. This paper presents a
variable stiffness joint(VSJ) designed for a robot manipulator.
The stiffness is generated by leaf springs and two actuators
are used to control the position and stiffness of the joint.
Changing the effective length of the spring results in change in
stiffness. The position of the joint is controlled via rotating two
actuators at the same speed in the same direction. The stiffness
is controlled when the two actuators rotate in the different
speed. Experiments are conducted to show that the position
and stiffness are controlled independent with each other and
having less stiffness at the joint helps in making unexpected
collision with object safer.
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- KIST Publication > Conference Paper
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