Version 1
: Received: 15 May 2024 / Approved: 16 May 2024 / Online: 16 May 2024 (11:55:13 CEST)
How to cite:
Qian, C.; Yang, K.; Ruan, Y.; Hu, J.; Shao, Z.; Wang, C.; Xie, C. Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units. Preprints2024, 2024051069. https://doi.org/10.20944/preprints202405.1069.v1
Qian, C.; Yang, K.; Ruan, Y.; Hu, J.; Shao, Z.; Wang, C.; Xie, C. Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units. Preprints 2024, 2024051069. https://doi.org/10.20944/preprints202405.1069.v1
Qian, C.; Yang, K.; Ruan, Y.; Hu, J.; Shao, Z.; Wang, C.; Xie, C. Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units. Preprints2024, 2024051069. https://doi.org/10.20944/preprints202405.1069.v1
APA Style
Qian, C., Yang, K., Ruan, Y., Hu, J., Shao, Z., Wang, C., & Xie, C. (2024). Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units. Preprints. https://doi.org/10.20944/preprints202405.1069.v1
Chicago/Turabian Style
Qian, C., Chongchong Wang and Chuanqi Xie. 2024 "Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units" Preprints. https://doi.org/10.20944/preprints202405.1069.v1
Abstract
In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.
Keywords
wire-actuated robot; service robot; human-robot interaction; variable-stiffness unit
Subject
Engineering, Mechanical Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
