IJAT Vol.6 No.1 pp. 46-52
doi: 10.20965/ijat.2012.p0046


Planar Manipulator with Mechanically Adjustable Joint Compliance

Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu

School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan

August 29, 2011
December 14, 2011
January 5, 2012
planar manipulator, adjustable compliance, stiffness, leaf spring, mechanical compliance
A novel robot joint with mechanically adjustable compliance is presented. It utilizes a leaf spring and the joint compliance can be adjusted by rotating this spring, i.e., changing its bending direction. A joint actuatormoves an armlink via a connection that consists of a hollow cylinder and a leaf spring. This mechanism is compact to be installed in a joint and it can change the joint stiffness rapidly and stably. A planar manipulator using this joint mechanism is proposed for the contact or constraint tasks. Since four joints are necessary to obtain arbitrary stiffnesses and an arbitrary position of the end-effector in plane motion, a four DOF (degrees of freedom) manipulator with mechanically adjustable joint compliance is developed.
Cite this article as:
H. Seki, Y. Kamiya, and M. Hikizu, “Planar Manipulator with Mechanically Adjustable Joint Compliance,” Int. J. Automation Technol., Vol.6 No.1, pp. 46-52, 2012.
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