A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification

Paskarbeit J, Annunziata S, Basa D, Schneider A (2013)
Sensors And Actuators A-Physical 199: 56-66.

Journal Article | Published | English

No fulltext has been uploaded

Abstract
While classical robotics traditionally makes use of stiff constructions in order to achieve a high precision, there is on-going research in development and control of new compliant robotic systems. These systems are suitable for direct human-machine-interaction due to their elastic behavior. The compliance is mostly achieved by control or by the integration of steel springs into the joint drives. This paper proposes a novel approach based on a sensorized elastomer coupling. Due to its damping characteristics, the interaction-safety can be improved in comparison to steel spring or purely control based approaches. The presented coupling is an integral part of a self-contained drive system which is also introduced. Simulation results of the strain/torsion and torque/torsion relationship for different geometrical variations of the elastomer coupling and experimental data of a prototype are presented. Since the sensorized coupling provides torsion measurements of the elastomer inlay, a system identification approach was employed to derive nonlinear and linear models of the coupling which can later be used in model-based joint-control. (C) 2013 Elsevier B.V. All rights reserved.
Publishing Year
ISSN
PUB-ID

Cite this

Paskarbeit J, Annunziata S, Basa D, Schneider A. A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification. Sensors And Actuators A-Physical. 2013;199:56-66.
Paskarbeit, J., Annunziata, S., Basa, D., & Schneider, A. (2013). A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification. Sensors And Actuators A-Physical, 199, 56-66.
Paskarbeit, J., Annunziata, S., Basa, D., and Schneider, A. (2013). A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification. Sensors And Actuators A-Physical 199, 56-66.
Paskarbeit, J., et al., 2013. A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification. Sensors And Actuators A-Physical, 199, p 56-66.
J. Paskarbeit, et al., “A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification”, Sensors And Actuators A-Physical, vol. 199, 2013, pp. 56-66.
Paskarbeit, J., Annunziata, S., Basa, D., Schneider, A.: A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification. Sensors And Actuators A-Physical. 199, 56-66 (2013).
Paskarbeit, Jan, Annunziata, Salvatore, Basa, Daniel, and Schneider, Axel. “A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling-Design and identification”. Sensors And Actuators A-Physical 199 (2013): 56-66.
This data publication is cited in the following publications:
This publication cites the following data publications:

Export

0 Marked Publications

Open Data PUB

Web of Science

View record in Web of Science®

Search this title in

Google Scholar