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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, 2011-09-25 - 2011-09-30, 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/ | ||||||||||||||||||||
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| 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: |
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| 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 Start Date: | 25 September 2011 | ||||||||||||||||||||
| Event End Date: | 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: | 24 Apr 2024 19:38 |
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