Abstract
Design of a new differential-velocity-type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity-type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretical analysis, and the experiments are presented in this article. The experimental results showed that (1) the stiffness of the differential-velocity-type joint can be regulated by changing the speeds of both motors, (2) the differential-velocity-type joint actually reduced 7.9%-15.7% time compared with the single-drive joint when performing five cycles of reciprocation, and (3) a new design of delta-type robot with differential-velocity-type driving modules was developed for verification. The experimental results showed that the differential-velocity-type delta robot can perform flexible assembly operations within a 0.028-mm tolerance.
| Original language | English |
|---|---|
| Pages (from-to) | 1-16 |
| Number of pages | 16 |
| Journal | Advances in Mechanical Engineering |
| Volume | 7 |
| Issue number | 9 |
| DOIs | |
| State | Published - 03 09 2015 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© The Author(s) 2015.
Keywords
- Compliant joint
- differential velocity
- robot
Fingerprint
Dive into the research topics of 'Study on the characteristics of a homemade differential-velocity-type compliant joint for robotic manipulators'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver