Design and development of a new robot joint using a mechanical impedance adjuster
Design and development of a new robot joint using a mechanical impedance adjuster
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DOI：
10.1109/robot.1995.525630
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发表时间：
1995-05
期刊：
影响因子：
--
通讯作者：
T. Morita;S. Sugano
中科院分区：
文献类型：
--
作者：
T. Morita;S. Sugano
本工作的目的是利用钢板弹簧、制动器等机械元件在机器人手指关节上实现无源阻抗，并利用这种新型机构来实现机器人手指对物体的柔和抓取。本文提出了一种新的关节机构--机械阻抗调节器，并利用该机构实现了机器人手指关节的阻抗控制。单自由度手指模型的实验结果表明了该方法的有效性。
The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers using the new mechanism to grasp objects softly. This paper presents a new joint mechanism, named "mechanical impedance adjuster", and an impedance control method of the robot finger joint by this mechanism. The effectiveness of this method is shown by the experiment on a 1-DOF finger model.