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Relation Between End-Effector Impedance and Joint Friction of Statically-Balanced Mechanisms

[+] Author Affiliations
Wenwu Xiu, Ou Ma

New Mexico State University, Las Cruces, NM

Paper No. DSCC2013-4095, pp. V003T48A006; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME


Statically-balanced mechanisms have been widely used for passive compensation of gravity loads in many applications including neurological rehabilitation and micro-/reduced-gravity simulation. For these applications, it is desirable that the used mechanism has minimal impedance the interacting human can feel. Impedance of a statically-balanced mechanism is contributed by many factors including the payload on the end-effector and the joint friction. This paper studies the relation between the end-effector impedance and the load-dependent joint friction for statically-balanced mechanisms. In the study a load dependent joint friction force model was developed. With the model, contribution of the end-effector load or payload on the joint friction can be evaluated, from which the end-effector impedance of the mechanism caused by the joint friction can be computed. The study results are applied to the analysis of a reduced-gravity simulator to evaluate the effect of the joint friction on the end-effector impedance of the mechanism. The findings of the study can help the assessment of the dynamic performance and also help the optimal design of statically-balanced mechanisms.

Copyright © 2013 by ASME



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