DocumentCode :
3709487
Title :
A novel nonlinear compliant link on simple grippers
Author :
Zhiwei Zhang;Alberto Rodriguez;Matthew T. Mason
Author_Institution :
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA
fYear :
2015
Firstpage :
2923
Lastpage :
2928
Abstract :
This paper presents a novel nonlinear compliant link. It has two major properties: bi-directionality and stiffening compliance. Bi-directionality means it can be stretched and compressed, and is realized by antagonistic arrangement of an extension spring and a compression spring. Stiffening compliance means it becomes stiffer as it is stretched, and is realized by asymmetric geometry. The links are parts of Simple Hand. Because Simple Hand gives limited space for links, current iteration of links is not obviously nonlinear. However, nonlinearity should be more obvious if links are designed for larger grippers.
Keywords :
"Springs","Robots","Bidirectional control","Shape","Force","Collision avoidance","Couplings"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7353780
Filename :
7353780
Link To Document :
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