The International Journal of Robotics Research Study, Ahead of Publish.
This research study presents an ingenious layout for a Variable Rigidity 3 Levels of Liberty activated wrist with the ability of proactively and continually readjusting its total rigidity by regulating the energetic size of non-linear flexible components. This inflection belongs to human muscle cocontraction and is accomplished making use of just 4 electric motors. The mechanical setup utilized cause a portable and light-weight tool with humanlike attributes, making it possibly ideal for applications such as prosthetics and humanoid robotics. This layout intends to improve efficiency in vibrant jobs, boost job versatility, and make sure safety and security throughout communications with both individuals and things. The paper information the very first equipment application of the recommended layout, supplying understandings right into the academic design, mechanical and digital parts, in addition to the control style. System efficiency is evaluated making use of an activity capture system. The outcomes show that the model provides a wide series of movement ([55, −45] ° for flexion/extension, ± 48 ° for radial/ulnar inconsistency, and ± 180 ° for pronation/supination) while having the capacity to triple its rigidity. Moreover, adhering to appropriate calibration, the wrist stance can be rebuilded via multivariate direct regression making use of rotational encoders and the ahead kinematic design. This restoration attains a typical Origin Mean Square Mistake of 6.6 °, with an R2 worth of 0.93.
发布者：Giuseppe Milazzo，转转请注明出处：https://robotalks.cn/modeling-and-control-of-a-novel-variable-stiffness-three-dofs-wrist/
