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A new biarticular joint mechanism to extend stiffness ranges

Höppner, Hannes and Wiedmeyer, Wolfgang and van der Smagt, Patrick (2014) A new biarticular joint mechanism to extend stiffness ranges. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3403-3410. Robotics and Automation (ICRA), 2014 IEEE International Conference on, May 31 - June 7, 2014, Hongkong, China.

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Official URL: http://www.ieeeexplore.us/xpl/articleDetails.jsp?tp=&arnumber=6907349&queryText%3DA+new+biarticular+joint+mechanism+to+extend+stiffness+ranges

Abstract

We introduce a six-actuator robotic joint mechanism with biarticular coupling inspired by the human limb which neither requires pneumatic artificial muscles nor tendon coupling. The actuator can independently change monoarticular and biarticular stiffness as well as both joint positions. We model and analyse the actuator with respect to stiffness variability in comparison with an actuator without biarticular coupling. We demonstrate that the biarticular coupling considerably extends the range of stiffness with an 70-fold improvement in versatility, in particular with respect to the end-point Cartesian stiffness shape and orientation. We suggest using Cartesian stiffness isotropy as an optimisation criterion for future underactuated versions.

Item URL in elib:https://elib.dlr.de/89509/
Document Type:Conference or Workshop Item (Speech)
Title:A new biarticular joint mechanism to extend stiffness ranges
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Höppner, Hanneshannes.hoeppner (at) dlr.deUNSPECIFIED
Wiedmeyer, Wolfgangwolfgang.wiedmeyer (at) dlr.deUNSPECIFIED
van der Smagt, Patricksmagt (at) brml.orgUNSPECIFIED
Date:31 May 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 3403-3410
Status:Published
Keywords:Compliant Joint/Mechanism, Mechanism Design of Manipulators, Biologically-Inspired Robots
Event Title:Robotics and Automation (ICRA), 2014 IEEE International Conference on
Event Location:Hongkong, China
Event Type:international Conference
Event Dates:May 31 - June 7, 2014
Organizer:IEEE/RJS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Höppner, Hannes
Deposited On:03 Dec 2014 17:11
Last Modified:31 Jul 2019 19:46

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