On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint

被引：84

作者：

Eiberger, Oliver ^{[1
]}

Haddadin, Sami ^{[1
]}

Weis, Michael

Albu-Schaeffer, Alin ^{[1
]}

Hirzinger, Gerd ^{[1
]}

机构：

[1] DLR German Aerosp Ctr, Inst Robot & Mechatron, Wessling, Germany

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

STIFFNESS; ACTUATOR; ROBOTS;

D O I：

10.1109/ROBOT.2010.5509662

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

080201 [机械制造及其自动化];

摘要：

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.

引用

页码：1687 / 1694

页数：8

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