The DLR FSJ: Energy based design of a variable stiffness joint
The DLR FSJ: Energy based design of a variable stiffness joint
复制标题
DOI：
10.1109/icra.2011.5980303
复制
发表时间：
2011-05
期刊：
影响因子：
--
通讯作者：
Sebastian Wolf;O. Eiberger;G. Hirzinger
中科院分区：
文献类型：
--
作者：
Sebastian Wolf;O. Eiberger;G. Hirzinger
为机器人提供机械柔顺关节是全世界关注的焦点，尤其是在类人机器人社区。变刚度关节（VSJ）有望获得高性能和鲁棒的机器人系统。提出的DLR浮动弹簧关节（FSJ）是针对拟人化DLR手臂系统的前4轴设计的VSJ模块。DLR手臂系统旨在匹配其自然原型的技能。为此，关节必须非常紧凑，以适应手臂。同时，他们需要一个高功率密度，以接近人类的手臂技能。新的DLR FSJ完全是从基于能源的角度设计的。这不仅解决了节能组件和低摩擦设计，而且还尽可能地利用了弹簧的势能。通过对手臂尖端钝冲击的研究，给出了鲁棒性的证明。
Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match the skills of its natural archetype. For this purpose, the joints have to be extremely compact to fit into the arm. At the same time they require a high power density in order to approximate the human arm skills. The new DLR FSJ is designed completely from an energy based point of view. This addresses not only energy efficient components and low friction design, but also that the potential energy of the spring is used as good as possible. A demonstration of robustness is given by the investigation of a blunt impact to the tip of the arm.