Adjustable Compliance Joint with Torsion Spring for Human Centred Robots
Human-oriented robots should be human-friendly, safe and impact-free. The present work is about the problem of adjustable compliance implementation in human-friendly robots. A new passive compliance adjustable compliant joint based on a variable length leaf torsion spring is presented. It allows a w...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/61931 |
| _version_ | 1828519823903031296 |
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| author | Dimitar Chakarov Mihail Tsveov Ivanka Veneva Peter Mitrouchev |
| author_facet | Dimitar Chakarov Mihail Tsveov Ivanka Veneva Peter Mitrouchev |
| author_sort | Dimitar Chakarov |
| collection | DOAJ |
| description | Human-oriented robots should be human-friendly, safe and impact-free. The present work is about the problem of adjustable compliance implementation in human-friendly robots. A new passive compliance adjustable compliant joint based on a variable length leaf torsion spring is presented. It allows a wide range of independent positioning and stiffness regulation. Some characteristics of the leaf torsion spring are analysed: stiffness\compliance, torque, elastic deformation angle and generated potential energy. Numerical simulations are performed. The structural parameters' influence on the compliant joint's characteristics is estimated. Tests on a specially realized prototype of an adjustable compliant joint are carried out. The basic prototype characteristics are evaluated. The experiments show a very good correlation with the numerical simulations. |
| first_indexed | 2024-12-11T19:18:41Z |
| format | Article |
| id | doaj.art-5e5554b1e08a42a28fef9662f1219e29 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T19:18:41Z |
| publishDate | 2015-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-5e5554b1e08a42a28fef9662f1219e292022-12-22T00:53:34ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-12-011210.5772/6193110.5772_61931Adjustable Compliance Joint with Torsion Spring for Human Centred RobotsDimitar Chakarov0Mihail Tsveov1Ivanka Veneva2Peter Mitrouchev3 Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria University of Grenoble, CNRS, G-SCOP, Grenoble, FranceHuman-oriented robots should be human-friendly, safe and impact-free. The present work is about the problem of adjustable compliance implementation in human-friendly robots. A new passive compliance adjustable compliant joint based on a variable length leaf torsion spring is presented. It allows a wide range of independent positioning and stiffness regulation. Some characteristics of the leaf torsion spring are analysed: stiffness\compliance, torque, elastic deformation angle and generated potential energy. Numerical simulations are performed. The structural parameters' influence on the compliant joint's characteristics is estimated. Tests on a specially realized prototype of an adjustable compliant joint are carried out. The basic prototype characteristics are evaluated. The experiments show a very good correlation with the numerical simulations.https://doi.org/10.5772/61931 |
| spellingShingle | Dimitar Chakarov Mihail Tsveov Ivanka Veneva Peter Mitrouchev Adjustable Compliance Joint with Torsion Spring for Human Centred Robots International Journal of Advanced Robotic Systems |
| title | Adjustable Compliance Joint with Torsion Spring for Human Centred Robots |
| title_full | Adjustable Compliance Joint with Torsion Spring for Human Centred Robots |
| title_fullStr | Adjustable Compliance Joint with Torsion Spring for Human Centred Robots |
| title_full_unstemmed | Adjustable Compliance Joint with Torsion Spring for Human Centred Robots |
| title_short | Adjustable Compliance Joint with Torsion Spring for Human Centred Robots |
| title_sort | adjustable compliance joint with torsion spring for human centred robots |
| url | https://doi.org/10.5772/61931 |
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