Impact mitigation of robotic system using variable stiffness joints
Document Type
Conference Proceeding
Publication Date
11-26-2012
Publication Title
International Conference on Ubiquitous Robots and Ambient Intelligence
First page number:
395
Last page number:
397
Abstract
It is well known that human hands or arthropod grippers (claws) have variable compliance or stiffness in their joints due to their muscle articulation. Like human hands, the adaptability and efficiency of robot control technology can be improved by utilizing the intrinsic dynamics of passive elements, leading to a well balanced coupling between control and mechanical design. In this research, we address shock and vibration isolation schemes of robotic system by embedding a variable stiffness elastomer component (B-MRE) in each articulated joint. In the future research, the B-MRE will be integrated with an actual robotic joint (revolute or prismatic) to demonstrate the effectiveness of the proposed shock and vibration isolation schemes.
Keywords
Variable stiffness, robotic joint
Language
eng
Repository Citation
Opie, S.,
Yun, H.,
Yim, W.
(2012).
Impact mitigation of robotic system using variable stiffness joints.
International Conference on Ubiquitous Robots and Ambient Intelligence
395-397.
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