SCARA Type Robot Arm with Mechanically Adjustable Compliant Joints
SCARA Type Robot Arm with Mechanically Adjustable Compliant Joints
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DOI：
10.1109/etfa.2006.355192
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发表时间：
2006-09
期刊：
影响因子：
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通讯作者：
H. Seki;Y. Kamiya;M. Hikizu
中科院分区：
文献类型：
--
作者：
H. Seki;Y. Kamiya;M. Hikizu
提出了一种新的SCARA型被动柔度机械臂，用于接触或约束任务。它采用钢板弹簧，通过旋转钢板弹簧，即改变其弯曲方向，可以调节关节的刚度。关节致动器通过连接空心圆筒和板簧移动臂杆。该机构结构紧凑，可以快速稳定地改变关节的刚度。讨论了板簧角度与关节刚度的关系，并分析了关节刚度与末端执行器刚度的关系。由于在平面运动中需要4个关节来实现任意刚度，因此开发并测试了具有柔性关节的4自由度机械臂。
A new SCARA type robot arm with passive compliance for contact or constraint tasks is presented. It utilizes a leaf spring and the joint stiffness can be adjusted by rotating this spring, i.e. changing its bending direction. A joint actuator moves an arm link via a connection hollow cylinder and a leaf spring. This mechanism is compact to add in a joint and it can change the stiffness rapidly and stably. We discuss the relationship between the angle of the leaf spring and the joint stiffness and also analyze the relationship between the joint stiffness and the stiffness at the end-effector. Since 4 joints are necessary to make arbitrary stiffnesses in plane motion, a 4 D.O.F. robot arm with proposed compliant joints was developed and tested.