DocumentCode
3022367
Title
On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint
Author
Eiberger, Oliver ; Haddadin, Sami ; Weis, Michael ; Albu-Schä, Alin ; Hirzinger, Gerd
Author_Institution
Inst. of Robot. & Mechatron., DLR-German Aerosp. Center, Wessling, Germany
fYear
2010
fDate
3-7 May 2010
Firstpage
1687
Lastpage
1694
Abstract
In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the DLR QA-Joint. Its performance is investigated by various experiments, covering velocity increase using the elastic energy, joint protection capabilities, and control performance.
Keywords
actuators; compliance control; DLR QA-Joint; intrinsically compliant joint mechanism; joint protection capability; quasi antagonistic joint; Drives; Iron; Lighting control; Protection; Robot kinematics; Robotics and automation; Robustness; Torque; USA Councils; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509662
Filename
5509662
Link To Document