A robot joint with variable stiffness based on compressed air and designed with the purpose of allowing small collisions during manipulation
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- NONOSE Helio
- University of Tsukuba
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- YAMAZAKI Shohei
- University of Tsukuba
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- AIYAMA Yasumichi
- University of Tsukuba
Bibliographic Information
- Other Title
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- 小さな衝突を許容するマニピュレーションのための圧縮空気を用いた可変剛性関節機構
Abstract
<p>The final goal of this research is to achieve a kind of manipulation which allows small collisions. The approach proposes dealing with the problems of impact forces in 3 main steps: mechanical device, control, and manipulation strategy. Although there are several control-based research about compliance they all have an intrinsic response time, which might not be ideal under some situations. Thus, a mechanical solution to cover up for the mentioned period is desirable. In this phase of the research, a robot joint which uses compressed air to implement variable stiffness was designed and built under requirements to allow small collisions. The data from stiffness experiments showed that the designed device is close to real implementation. Collision experiments were also performed, and the results show some tendency towards the desirable behavior. However, more tests are necessary for a complete evaluation.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2023 (0), 2A1-C11-, 2023
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390580394707974400
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed