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Rigi 2016 Erlangen, Germany
Papers

Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen

Konzept zur hochdynamischen Kraftregelung mit nachgiebigen Mechanismen

Year: 2016

Section: Leichtbau

Editor: Dieter Krause, Kristin Paetzold, Sandro Wartzack

Author: Kristian Mauser, Sandro Wartzack, Alexander Hasse

Series: DfX

Institution: Friedrich-Alexander-Universität Erlangen-Nürnberg

Section: Leichtbau

Pages: 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

ds endorsed conference27th SYMPOSIUM DESIGN FOR X, Jesteburg, GER, 05-06 OCTOBER, 2016

You and your colleagues are cordially invited to participate in the conference “Symposium Design for X” to be held at the “Tagungshotel Jesteburg”, Jesteburg near to Hamburg, Germany on 5 – 6 October 2016. The annual event provides a platform to young postgraduates to present and discuss their new approaches in the field of product development. Industry professionals and professors will enrich these discussions with their manifold experience. This year's symposium will be hosted by Prof. Dieter...

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Keywords
Design Science Journal