Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen

DFX 2016: Proceedings of the 27th Symposium Design for X, 5-6 October 2016, Jesteburg, Germany

Year: 2016
Editor: Dieter Krause, Kristin Paetzold, Sandro Wartzack
Author: Mauser, Kristian; Wartzack, Sandro; Hasse, Alexander
Series: DfX
Institution: Friedrich-Alexander-Universität Erlangen-Nürnberg
Section: Leichtbau
Page(s): 157-168
ISBN: 978-3-946094-09-8

Abstract

The traditional approach to robotics includes a stiff serial-kinematic structure. Although this solution is efficient for position control tasks, such a concept is problematic for force control. The performance of control strategies is limited amongst others by the proper inertia which sets strong boundaries to control. Here, we propose an attractive concept for the realization of force control by means of an elastic interface based on variable-stiffness compliant-mechanism. Interposition of our elastic interface between the robot free-end and end effector 'decouples' the entire robot inertia from the end effector. Furthermore, the proposed system provides a frictionless operation and offers adaptive compliance, which allows for a high range of bandwidth.

Keywords: Series elastic actuation, compliant mechanism, highly dynamic force control, variable stiffness actuator