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Development of a 3-Spring Pseudo Rigid Body Model of Compliant Joints for Robotic Applications

[+] Author Affiliations
Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su

The Ohio State University, Columbus, OH

Paper No. DETC2014-34520, pp. V05AT08A032; 8 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


Compliant mechanisms achieve motion utilizing deformation of elastic members. However, analysis of compliant mechanisms for large deflections remains a significant challenge. In this paper, we will develop a 3-spring pseudo-rigid-body model for 2D beams that are often used in compliant joints in robots. First, we utilize the Timoshenko beam theory to calculate the tip deflection for a large range of loading conditions. An optimization process is then carried out to calculate the values of the parameters of the PRB model. The errors in the model will be analyzed and compared to the beam model. An example based on a robotic grasper finger is provided to demonstrate how the model can be used in analysis of such a system. This model will provide a much simpler approach for the analysis of compliant robotic mechanisms.

Copyright © 2014 by ASME
Topics: Robotics , Springs



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