Development of antagonistic wire-driven joint employing kinematic transmission mechanism

• Autorzy: Sonoda T. , Nishida Y. , Nassiraei A. A. F. , Ishii K.
• Języki publikacji: EN

Abstrakty

EN

Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However, these devices have difficulties in control caused by complex and nonlinear properties, downsizing of actuator, and response time of articular compliance. In order to solve these problems, we propose a new antagonistic joint mechanism using kinematic transmission mechanism (KTM), which is composed of links and cams with dedicated design. The performance of KTM is evaluated through stiffness and position control simulations and experiments.

Słowa kluczowe

EN

antagonistic-driven joints; equilibrium point hypothesis; controllable stiffness mechanisms

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2010
• Tom: Vol. 4, No. 2
• Strony: 62--70
• Opis fizyczny: Bibliogr. 21 poz., rys.

Twórcy

autor

Sonoda T.

autor

Nishida Y.

autor

Nassiraei A. A. F.

autor

Ishii K.

• Fukuoka Industry, Science & Technology Foundation, The University of Kitakyushu, 1-1 Hibikino, Wakamatsu-ku, Kitakyushu, 808-0135, Japan, [phone] (ext. 2838),

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