Planar Manipulator with Mechanically Adjustable Joint Compliance

Hiroaki Seki; Yoshitsugu Kamiya; Masatoshi Hikizu

doi:10.20965/ijat.2012.p0046

single-au.php

« previous

IJAT Vol.6 No.1 pp. 46-52

doi: 10.20965/ijat.2012.p0046

(2012)

Paper:

Views over last 60 days: 799

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

Received:

August 29, 2011

Accepted:

December 14, 2011

Published:

January 5, 2012

Keywords:

planar manipulator, adjustable compliance, stiffness, leaf spring, mechanical compliance

Abstract

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.

Data files:

References

[1] M. H. Ang and G. B. Andeen, “Specifying and Achieving Passive Compliance Based on Manipulator Structure,” IEEE Trans. Robotics and Automation, Vol.11, No.4, pp. 504-515, 1995.
[2] G. A. Medrano-Cerda, C. J. Bowler, and D. G. Caldwell, “Adaptive Position control of Antagonistic Pneumatic Muscle Actuators,” Proc. of 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 378-383, 1995.
[3] D. Hyun, H. S. Yang, J. Park, and Y. Shim, “Variable stiffness mechanism for human-friendly robots,” Mechanism and Machine Theory, Vol.45, pp. 880-897, 2010.
[4] R. Ghorbani and Q. Wu, “Adjustable stiffness artificial tendons: Conceptual design and energetics study in bipedal walking robots,” Mechanism and Machine Theory, Vol.44, pp. 140-161, 2009.
[5] G. Tonietti, R. Schiavi, and A. Bicchi, “Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction,” Proc. of 2005 IEEE Int. Conf. on Robotics and Automation, pp. 526-531, 2005.
[6] R. V. Ham et al., “MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot,” Robotics and Autonomous Systems, Vol.55, pp. 761-768, 2007.
[7] J. Oda, A. Wang, and N. Matsumoto, “Trial Formation of Variable-Stiffness Spring and Its Application to Displacement Control Problems,” J. of Japan Society of Mechanical Engineers Series C, Vol.59, pp. 2526-2531, 1993. (in Japanese)
[8] T. Morita and S. Sugano, “Development of One-D.O.F. Robot Arm equipped with Mechanical Impedance Adjuster,” Proc. of 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 407-412, 1995.
[9] H. Seki et al., “Development of A Robot Joint Mechanism with Variable Compliance by Rotating A Leaf Spring,” Proc. of 2000 Japan-USA Flexible Automation Conf., CDROM, 2000.
[10] M. Kaneko et al., “Direct Compliance Control of Manipulator Arms. Basic Concept and Application Examples,” Proc. of Symp. on Robot Control’88, 1988.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. H. Ang and G. B. Andeen, “Specifying and Achieving Passive Compliance Based on Manipulator Structure,” IEEE Trans. Robotics and Automation, Vol.11, No.4, pp. 504-515, 1995.

[2] [2] G. A. Medrano-Cerda, C. J. Bowler, and D. G. Caldwell, “Adaptive Position control of Antagonistic Pneumatic Muscle Actuators,” Proc. of 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 378-383, 1995.

[3] [3] D. Hyun, H. S. Yang, J. Park, and Y. Shim, “Variable stiffness mechanism for human-friendly robots,” Mechanism and Machine Theory, Vol.45, pp. 880-897, 2010.

[4] [4] R. Ghorbani and Q. Wu, “Adjustable stiffness artificial tendons: Conceptual design and energetics study in bipedal walking robots,” Mechanism and Machine Theory, Vol.44, pp. 140-161, 2009.

[5] [5] G. Tonietti, R. Schiavi, and A. Bicchi, “Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction,” Proc. of 2005 IEEE Int. Conf. on Robotics and Automation, pp. 526-531, 2005.

[6] [6] R. V. Ham et al., “MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot,” Robotics and Autonomous Systems, Vol.55, pp. 761-768, 2007.

[7] [7] J. Oda, A. Wang, and N. Matsumoto, “Trial Formation of Variable-Stiffness Spring and Its Application to Displacement Control Problems,” J. of Japan Society of Mechanical Engineers Series C, Vol.59, pp. 2526-2531, 1993. (in Japanese)

[8] [8] T. Morita and S. Sugano, “Development of One-D.O.F. Robot Arm equipped with Mechanical Impedance Adjuster,” Proc. of 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 407-412, 1995.

[9] [9] H. Seki et al., “Development of A Robot Joint Mechanism with Variable Compliance by Rotating A Leaf Spring,” Proc. of 2000 Japan-USA Flexible Automation Conf., CDROM, 2000.

[10] [10] M. Kaneko et al., “Direct Compliance Control of Manipulator Arms. Basic Concept and Application Examples,” Proc. of Symp. on Robot Control’88, 1988.