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Friedl, Werner und Höppner, Hannes und Petit , Florian und 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, Seiten 1836-1842. IROS 2011, 2011-09-25 - 2011-09-30, San Francisco. doi: 10.1109/iros.2011.6048183.
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Kurzfassung
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
| elib-URL des Eintrags: | https://elib.dlr.de/72934/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||
| Titel: | Wrist and forearm rotation of the DLR Hand Arm System: Mechanical design, shape analysis and experimental validation | ||||||||||||||||||||
| Autoren: |
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| Datum: | 26 September 2011 | ||||||||||||||||||||
| Erschienen in: | Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||
| DOI: | 10.1109/iros.2011.6048183 | ||||||||||||||||||||
| Seitenbereich: | Seiten 1836-1842 | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | variable stiffness actuator, redunated actuator | ||||||||||||||||||||
| Veranstaltungstitel: | IROS 2011 | ||||||||||||||||||||
| Veranstaltungsort: | San Francisco | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 25 September 2011 | ||||||||||||||||||||
| Veranstaltungsende: | 30 September 2011 | ||||||||||||||||||||
| Veranstalter : | IEE/RSJ | ||||||||||||||||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||
| HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||
| Hinterlegt von: | Friedl, Werner | ||||||||||||||||||||
| Hinterlegt am: | 15 Dez 2011 16:39 | ||||||||||||||||||||
| Letzte Änderung: | 11 Nov 2024 09:40 |
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