New visco-elastic mechanism design for flexible joint manipulator

Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    11 Citations (Scopus)

    Abstract

    We describe a space-efficient visco-elastic mechanism design for a small lightweight flexible joint of a human-symbiotic robot arm. Human-symbiotic robots that can provide daily life support will be required in houses, offices, facilities, and other places. Since they will often make physical contact with humans, their arms should have mechanical flexible joints to absorb the contact force and follow the human's motion. Our design has two coaxial rotary elements: a torsion bar made from GUMMETAL and a rotary disk damper with the output hole at its center. These two elements are combined in parallel and coaxially, making our design highly space-efficient. This paper presents the specifications of the shear elastic characteristics of GUMMETAL measured in experiments using 1DOF (degree-of-freedom) test equipment. The results confirm that its shear elastic modulus is linear and has a small elastic hysteresis loop and our mechanism can provide the advantage for the robot servo control. Compared with the conventional design, our design can make a smaller lighter flexible joint.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages235-240
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an
    Duration: 2008 Aug 22008 Aug 5

    Other

    Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
    CityXi'an
    Period08/8/208/8/5

    Fingerprint

    Manipulators
    Robots
    Hysteresis loops
    Torsional stress
    Elastic moduli
    Specifications
    Experiments

    Keywords

    • GUMMETAL
    • Human-symbiotic robot
    • Space-efficient viscoelastic mechanism

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Sugaiwa, T., Iwata, H., & Sugano, S. (2008). New visco-elastic mechanism design for flexible joint manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 235-240). [4601665] https://doi.org/10.1109/AIM.2008.4601665

    New visco-elastic mechanism design for flexible joint manipulator. / Sugaiwa, Taisuke; Iwata, Hiroyasu; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2008. p. 235-240 4601665.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sugaiwa, T, Iwata, H & Sugano, S 2008, New visco-elastic mechanism design for flexible joint manipulator. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 4601665, pp. 235-240, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008, Xi'an, 08/8/2. https://doi.org/10.1109/AIM.2008.4601665
    Sugaiwa T, Iwata H, Sugano S. New visco-elastic mechanism design for flexible joint manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2008. p. 235-240. 4601665 https://doi.org/10.1109/AIM.2008.4601665
    Sugaiwa, Taisuke ; Iwata, Hiroyasu ; Sugano, Shigeki. / New visco-elastic mechanism design for flexible joint manipulator. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2008. pp. 235-240
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