Affiliation:
1. Department of Mechanical Engineering, Marquette University, Milwaukee, WI 53201-1881 e-mail:
Abstract
This paper presents methods for the realization of 2 × 2 translational compliance matrices using serial mechanisms having three joints, each either revolute or prismatic and each with selectable compliance. The geometry of the mechanism and the location of the compliance frame relative to the mechanism base are each arbitrary but specified. Necessary and sufficient conditions for the realization of a given compliance with a given mechanism are obtained. We show that, for an appropriately constructed serial mechanism having at least one revolute joint, any single 2 × 2 compliance matrix can be realized by properly choosing the joint compliances and the mechanism configuration. For each type of three-joint combination, requirements on the redundant mechanism geometry are identified for the realization of every point planar elastic behavior at a given location, just by changing the mechanism configuration and the joint compliances.
Reference26 articles.
1. Soft Robotics: From Torque Feedback-Controlled Lightweight Robots to Intrinsically Compliant Systems;IEEE Rob. Autom. Mag.,2008
2. Compliant Actuator Designs;IEEE Rob. Autom. Mag.,2009
3. Pratt, G., and Williamson, M., 1995, “Series Elastic Actuators,” 1995 IEEE/RSJInternational Conference on Intelligent Robots and Systems, Aug. 5–9, Vol. 1, pp. 399–406.10.1109/IROS.1995.525827
4. Compliant Actuator Designs: Review of Actuators With Passive Adjustable Compliance/Controllable Stiffness for Robotic Applications;IEEE Rob. Autom. Mag.,2009
Cited by
8 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献