Comparative Evaluation of the Selective Compliance in Elastic Joints for Robotic Structures

摘要：

After a brief reminder about advantages and problems related to the application of large displacement elastic joints in robotic structures, this paper outlines an approach for quantifying the joint’s performance in terms of selective compliance (i.e. capability of providing low stiffness along a single desired direction). Local and global performance indexes are proposed which can be used to discern which joint best suits the application requirements. The approach is validated by comparing two beam-like flexures and two novel compliant joints with non trivial morphology.

关键词： Large displacement compliant joints robotic fingers

作者: Giovanni Berselli Marco Piccinini Gabriele Vassura

作者单位: Dept.,University of Modena,Italy Dept.,University of Bologna,Italy

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4626-4631

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）