elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Wrist and forearm rotation of the DLR Hand Arm System: Mechanical design, shape analysis and experimental validation

Friedl, Werner and Höppner, Hannes and Petit , Florian and Gerd, Hirziner (2011) Wrist and forearm rotation of the DLR Hand Arm System: Mechanical design, shape analysis and experimental validation. In: Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf, pp. 1836-1842. IROS 2011, 25.-30. September 2011, San Francisco.

[img] PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
2MB

Abstract

The DLR Hand Arm System is based upon the variable stiffness concept which has been recently developed to improve impact robustness and energy efficiency of modern robots. This paper continues the work on the bidirectional antagonistic variable stiffness (BAVS) joint concept which is an extension of antagonistic joints. Three mechanical setups utilizing different spring and cam disc combinations to implement a desired torque-stiffness characteristic are analyzed. Two BAVS joint solutions as used for the wrist and forearm rotation of the DLR Hand Arm System are presented. Furthermore in the experimental section torque-deflection calibration and drive redundancy are validated

Document Type:Conference or Workshop Item (Paper)
Title:Wrist and forearm rotation of the DLR Hand Arm System: Mechanical design, shape analysis and experimental validation
Authors:
AuthorsInstitution or Email of Authors
Friedl, Wernerwerner.friedl@dlr.de
Höppner, Hanneshannes.hoeppner@dlr.de
Petit , Florianflorian.petit@dlr.de
Gerd, Hirzinergerd.hirzinger@dlr.de
Date:26 September 2011
Journal or Publication Title:Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:pp. 1836-1842
Status:Published
Keywords:variable stiffness actuator, redunated actuator
Event Title:IROS 2011
Event Location:San Francisco
Event Type:international Conference
Event Dates:25.-30. September 2011
Organizer:IEE/RSJ
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Werner Friedl
Deposited On:15 Dec 2011 16:39
Last Modified:15 Dec 2011 16:39

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.