The Worldwide Journal of Robotics Analysis, Forward of Print.
Extremely articulated organisms function blueprints for extremely dexterous mechanisms, however constructing equally succesful robotic counterparts has been hindered by the difficulties of creating electromechanical actuators with each the excessive energy and compactness of organic muscle. We develop a stackable electrostatic brake that has comparable particular rigidity and weight to that of muscular tissues and combine it right into a robotic joint. Excessive degree-of-freedom mechanisms composed of such electrostatic brake enabled joints can then make use of established management algorithms to realize hybrid motor-brake actuated dexterous manipulation. Particularly, our joint design permits a ten degree-of-freedom robotic outfitted with just one motor to control a number of objects concurrently. We additionally present that the usage of brakes permits a two-fingered robotic to carry out in-hand re-positioning of an object 45% extra shortly and with 53% decrease positioning error than with out brakes. Relative to completely actuated robots, robots outfitted with such electrostatic brakes can have decrease weight, quantity, and energy consumption but retain the power to achieve arbitrary joint configurations.
发布者：Patrick Lancaster，转转请注明出处：https://robotalks.cn/electrostatic-brakes-enable-individual-joint-control-of-underactuated-highly-articulated-robots/
