Title :
On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint
Author :
Eiberger, Oliver ; Haddadin, Sami ; Weis, Michael ; Albu-Schä, Alin ; Hirzinger, Gerd
Author_Institution :
Inst. of Robot. & Mechatron., DLR-German Aerosp. Center, Wessling, Germany
Abstract :
In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the DLR QA-Joint. Its performance is investigated by various experiments, covering velocity increase using the elastic energy, joint protection capabilities, and control performance.
Keywords :
actuators; compliance control; DLR QA-Joint; intrinsically compliant joint mechanism; joint protection capability; quasi antagonistic joint; Drives; Iron; Lighting control; Protection; Robot kinematics; Robotics and automation; Robustness; Torque; USA Councils; Velocity control;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509662
