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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.

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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

Item URL in elib:https://elib.dlr.de/72934/
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 AuthorsAuthors ORCID iD
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Höppner, Hanneshannes.hoeppner (at) dlr.deUNSPECIFIED
Petit , Florianflorian.petit (at) dlr.deUNSPECIFIED
Gerd, Hirzinergerd.hirzinger (at) dlr.deUNSPECIFIED
Date:26 September 2011
Journal or Publication Title:Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
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 (until 2012) > Robotic Systems
Deposited By: Friedl, Werner
Deposited On:15 Dec 2011 16:39
Last Modified:31 Jul 2019 19:34

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