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

Author

Friedl, Werner ; Höppner, Hannes ; Petit, Florian ; Hirzinger, Gerd

Author_Institution

Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Wessling, Germany

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

1836

Lastpage

1842

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.

Keywords

cams (mechanical); design engineering; drives; energy conservation; manipulators; springs (mechanical); torque control; BAVS joint solution; DLR hand arm system; antagonistic joints; bidirectional antagonistic variable stiffness joint concept; cam disc; drive redundancy; energy efficiency; experimental validation; forearm rotation; impact robustness; mechanical design; modern robots; shape analysis; spring disc; torque-deflection calibration; torque-stiffness characteristic; variable stiffness concept; wrist rotation; Joints; Robots; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094616

Filename

6094616