A Back-Drivable Rotational Force Actuator for Adaptive Grasping
In this paper, a back-drivable and miniature rotary series elastic actuator (RSEA) is proposed for robotic adaptive grasping. A compact arc grooves design has been proposed to effectively reduce the dimension of the RSEA system. The elastic elements could be reliably embedded in the arc grooves with...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/7/267 |
| _version_ | 1827734366892064768 |
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| author | Xiaofeng Wu Hongliang Hua Che Zhao Naiyu Shi Zhiwei Wu |
| author_facet | Xiaofeng Wu Hongliang Hua Che Zhao Naiyu Shi Zhiwei Wu |
| author_sort | Xiaofeng Wu |
| collection | DOAJ |
| description | In this paper, a back-drivable and miniature rotary series elastic actuator (RSEA) is proposed for robotic adaptive grasping. A compact arc grooves design has been proposed to effectively reduce the dimension of the RSEA system. The elastic elements could be reliably embedded in the arc grooves without any additional installation structures. The whole RSEA system is characterized as compact, miniature, and modular. The actuating force is controlled via a PI controller by tracking the deformation trajectory of the elastic elements. An underactuated finger mechanism has been adopted to investigate the effectiveness of the RSEA in robotic adaptive grasping. Results reveal that the underactuated finger mechanism could achieve adaptive grasping via the RSEA in a back-drive approach without the requirement of a fingertip force sensor. The RSEA could also exhibit an actuating compliance and a self-sensing characteristic. The actuating compliance characteristic helps in in guaranteeing the safety of human–robot interaction. The RSEA could estimate the external disturbance due to its self-sensing characteristic, which has the potential to replace the fingertip force sensor in grasping force perception applications. |
| first_indexed | 2024-03-11T01:24:16Z |
| format | Article |
| id | doaj.art-2aadd5c598cf469689ccd84f4a1a9414 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-11T01:24:16Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-2aadd5c598cf469689ccd84f4a1a94142023-11-18T17:49:23ZengMDPI AGActuators2076-08252023-06-0112726710.3390/act12070267A Back-Drivable Rotational Force Actuator for Adaptive GraspingXiaofeng Wu0Hongliang Hua1Che Zhao2Naiyu Shi3Zhiwei Wu4School of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou 213032, ChinaSchool of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou 213032, ChinaSchool of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou 213032, ChinaSchool of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou 213032, ChinaCollege of Art and Communication, China Jiliang University, Hangzhou 310018, ChinaIn this paper, a back-drivable and miniature rotary series elastic actuator (RSEA) is proposed for robotic adaptive grasping. A compact arc grooves design has been proposed to effectively reduce the dimension of the RSEA system. The elastic elements could be reliably embedded in the arc grooves without any additional installation structures. The whole RSEA system is characterized as compact, miniature, and modular. The actuating force is controlled via a PI controller by tracking the deformation trajectory of the elastic elements. An underactuated finger mechanism has been adopted to investigate the effectiveness of the RSEA in robotic adaptive grasping. Results reveal that the underactuated finger mechanism could achieve adaptive grasping via the RSEA in a back-drive approach without the requirement of a fingertip force sensor. The RSEA could also exhibit an actuating compliance and a self-sensing characteristic. The actuating compliance characteristic helps in in guaranteeing the safety of human–robot interaction. The RSEA could estimate the external disturbance due to its self-sensing characteristic, which has the potential to replace the fingertip force sensor in grasping force perception applications.https://www.mdpi.com/2076-0825/12/7/267robotic graspingactuatorseries elastic actuatingadaptive grasping |
| spellingShingle | Xiaofeng Wu Hongliang Hua Che Zhao Naiyu Shi Zhiwei Wu A Back-Drivable Rotational Force Actuator for Adaptive Grasping Actuators robotic grasping actuator series elastic actuating adaptive grasping |
| title | A Back-Drivable Rotational Force Actuator for Adaptive Grasping |
| title_full | A Back-Drivable Rotational Force Actuator for Adaptive Grasping |
| title_fullStr | A Back-Drivable Rotational Force Actuator for Adaptive Grasping |
| title_full_unstemmed | A Back-Drivable Rotational Force Actuator for Adaptive Grasping |
| title_short | A Back-Drivable Rotational Force Actuator for Adaptive Grasping |
| title_sort | back drivable rotational force actuator for adaptive grasping |
| topic | robotic grasping actuator series elastic actuating adaptive grasping |
| url | https://www.mdpi.com/2076-0825/12/7/267 |
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