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Paper TuP107.5

Hondo, Takatoshi (Tokyo university of Agriculture and Technology), Mizuuchi, Ikuo (Tokyo University of Agriculture and Technology)

Analysis of the 1-Joint Spring-Motor Coupling System and Optimization Criteria Focusing on the Velocity Increasing Effect

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots III" (TuP107), Tuesday, May 10, 2011, 14:40−14:55, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on September 21, 2017

Keywords Biologically-Inspired Robots, Motion Control of Manipulators, Flexible Arms

Abstract

This paper describes analysis of the 1–Joint Spring–Motor Coupling System (SMCS). A system including series elastic elements shows vibrational responses in the velocity space, and our concept is to use the velocity peak of the system for motions that need explosive power. Tuning parameters, we can obtain instantaneously higher velocity than without any spring. We constructed a mathematical model of a 1–Joint SMCS and confirmed the velocity increasing effect by numerical analyses and real experiments. And we discovered existence of the most effective inertia balance and the optimum spring constant. We also established design criteria to utilize the effect and confirmed the criteria by the experiments.

 

 

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