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Stiffness Design for Compliant Manipulators Based on Dynamics Analysis of the Impact Configuration

[+] Author Affiliations
Dongming Gan

Italian Institute of Technology, Genova, Italy; Khalifa University of Science, Technology & Research, Abu Dhabi, UAE

Nikos G. Tsagarakis, Darwin G. Caldwell

Italian Institute of Technology, Genova, Italy

Jian S. Dai

King’s College London, University of London, London, UK

Paper No. DETC2011-47636, pp. 103-112; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper presents a study on setting the joint stiffness for compliant robots in order to protect the actuators when the arm comes up against impact. System dynamic equations of compliant manipulators integrated with impact model are linearized to identify the maximum joint torques in the impact. Based on this, different directions of end-effector velocity and impact normal in different configurations in the robot workspace are calculated based on a given magnitude of end-effector velocity. By tuning the stiffness for each compliant joint to ensure the joint torque does not exceed the maximum value of the actuator, candidate stiffness values are obtained to make the compliant actuators safe in all cases when the robot end-effector moves with a velocity within the fixed magnitude value used in the calculation. The theory and procedure are firstly laid and demonstrated in a 1-DOF planar manipulator, then the work is applied to a 2-DOF compliant manipulator and the candidate stiffness is obtained based on the method.

Copyright © 2011 by ASME



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