Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators
Design of a new differential-velocity–type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity–type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretic...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-09-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814015603668 |
| _version_ | 1818304836548952064 |
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| author | Jwu-Sheng Hu Cheng-Hua Wu Yi-Jeng Tsai Chung-Hsien Kuo |
| author_facet | Jwu-Sheng Hu Cheng-Hua Wu Yi-Jeng Tsai Chung-Hsien Kuo |
| author_sort | Jwu-Sheng Hu |
| collection | DOAJ |
| description | Design of a new differential-velocity–type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity–type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretical analysis, and the experiments are presented in this article. The experimental results showed that (1) the stiffness of the differential-velocity–type joint can be regulated by changing the speeds of both motors, (2) the differential-velocity–type joint actually reduced 7.9%−15.7% time compared with the single-drive joint when performing five cycles of reciprocation, and (3) a new design of delta-type robot with differential-velocity–type driving modules was developed for verification. The experimental results showed that the differential-velocity–type delta robot can perform flexible assembly operations within a 0.028-mm tolerance. |
| first_indexed | 2024-12-13T06:17:01Z |
| format | Article |
| id | doaj.art-782dd3ad0f044eca9d7ec206cfc3c83b |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-13T06:17:01Z |
| publishDate | 2015-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-782dd3ad0f044eca9d7ec206cfc3c83b2022-12-21T23:56:56ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402015-09-01710.1177/168781401560366810.1177_1687814015603668Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulatorsJwu-Sheng Hu0Cheng-Hua Wu1Yi-Jeng Tsai2Chung-Hsien Kuo3Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan, R.O.CDepartment of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan, R.O.CMechanical and Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan, R.O.CDepartment of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, R.O.CDesign of a new differential-velocity–type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity–type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretical analysis, and the experiments are presented in this article. The experimental results showed that (1) the stiffness of the differential-velocity–type joint can be regulated by changing the speeds of both motors, (2) the differential-velocity–type joint actually reduced 7.9%−15.7% time compared with the single-drive joint when performing five cycles of reciprocation, and (3) a new design of delta-type robot with differential-velocity–type driving modules was developed for verification. The experimental results showed that the differential-velocity–type delta robot can perform flexible assembly operations within a 0.028-mm tolerance.https://doi.org/10.1177/1687814015603668 |
| spellingShingle | Jwu-Sheng Hu Cheng-Hua Wu Yi-Jeng Tsai Chung-Hsien Kuo Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators Advances in Mechanical Engineering |
| title | Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators |
| title_full | Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators |
| title_fullStr | Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators |
| title_full_unstemmed | Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators |
| title_short | Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators |
| title_sort | study on the characteristics of a homemade differential velocity type compliant joint for robotic manipulators |
| url | https://doi.org/10.1177/1687814015603668 |
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