Title :
Optimal use of nonlinear electromagnetic force for micro motion wrist
Author :
Nakamura, Yoshihiko ; Kimura, Yoshihiko ; Arora, Gagan
Author_Institution :
Center for Robotic Syst. & Manuf., California Univ., Santa Barbara, CA, USA
Abstract :
A force-sensitive multi-DOF (degree-of-freedom) wrist suitable for force and collision control is presented. Similar kinds of wrists have been developed before but they suffered from insufficiency of power or massiveness. Having practical applications in mind, the authors present a magnetically driven system in which the nonlinear and limited electromagnetic force can be used effectively and the output force can be applied as uniformly as possible in all directions. The developed wrist can drive a hand or a tool within the range of ±1 mm in all three directions and can apply up to 100-N of force anywhere in the work space. The wrist is clean due to the absence of mechanical friction
Keywords :
electric drives; force control; robots; collision control; magnetically driven system; micromotion wrist; multiple DOF wrist; nonlinear electromagnetic force; robot´s hand; Coils; Couplings; Electromagnetic forces; Engine cylinders; Force control; Friction; Magnetic forces; Magnetic levitation; Servomotors; Wrist;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131729
