Design of a Low-Cost Series Elastic Actuator for Multi-Robot Manipulation
We describe a proof-of-concept design for a lowcost two-degree-of-freedom robotic arm that incorporates series elastic actuators (SEAs) with force sensing. The cost effectiveness of the design will enable the construction of compliant manipulators for multi-robot systems with large populations. The arm assembly attaches to a commercially available mobile robot chassis to perform multi-robot coordination. In this work, we present the design of a robot arm and data from experiments to characterize the accuracy and resolution of the force sensing. We describe a force-following manipulation experiment using two robots. The experiment measures strain on a rigid bar between two robots. The data shows the feasibility of using SEAs for force sensing to reduce the strain in the bar. This is the first step towards a distributed force controller for multirobot object coordination with large numbers of robots.
Emma Campbell Zhao Chad Kong William Hered Andrew J. Lynch Marcia K. O’Malley James McLurkin
Mechanical Engineering Department,Rice University,Houston,TX Computer Science Department,Rice University,Houston,TX
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5395-5400
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）