Analysis of the 1-Joint Spring-Motor Coupling System and optimization criteria focusing on the velocity increasing effect

Hondo, Takatoshi; Mizuuchi, Ikuo

doi:10.1109/icra.2011.5980412

Cited by 15 publications

(8 citation statements)

References 11 publications

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“…Suppose that a user wants to employ the highly dynamic behaviors of the previous VSA tool-head also to move a hammer-like tool for driving nails, as in the scheme of Figure 21(b). As shown in works such as Garabini et al (2011), Haddadin et al (2008), Haddadin et al (2011) and Hondo and Mizuuchi (2011), this task can be formalized as an optimal control problem in which the kinetic energy of the link attached to the actuator, in this case the hammer tool, is maximized at the instant of the impact. The solution of this problem, which is sensitive to boundary conditions, such as maximum limits on the link motion range and the eventual time specified for the impact, is not always trivial.…”

Section: Datasheet Usage Examplesmentioning

confidence: 99%

“…As shown in works such asGarabini et al (2011), Haddadin et al (2008,Haddadin et al (2011) andHondo and Mizuuchi (2011), this task can be formalized as an optimal control problem in which the kinetic energy of the link attached to the actuator, in this case the hammer tool, is Trend of r ω , ratio between the maximum required speeds of a soft actuator with respect to a rigid actuator, as a function of the inertia of the cutting tool. The other parameters are A = 10 mm, ω = 50 Hz and F = 125 N.…”

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confidence: 99%

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Variable stiffness actuators: The user’s point of view

Grioli

Wolf²,

Garabini

et al. 2015

The International Journal of Robotics Research

169

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Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth of interest in the research community, as shown by the growing number of publications. While many consider VSA very interesting for applications, one of the factors hindering their further diffusion is the relatively new conceptual structure of this technology. When choosing a VSA for their application, educated practitioners, who are used to choosing robot actuators based on standardized procedures and uniformly presented data, would be confronted with an inhomogeneous and rather disorganized mass of information coming mostly from scientific publications. In this paper, the authors consider how the design procedures and data presentation of a generic VSA could be organized so as to minimize the engineer's effort in choosing the actuator type and size that would best fit the application needs. The reader is led through the list of the most important parameters that will determine the ultimate performance of their VSA robot, and influence both the mechanical design and the controller shape. This set of parameters extends the description of a traditional electric actuator with quantities describing the capability of the VSA to change its output stiffness. As an instrument for the enduser, the VSA datasheet is intended to be a compact, self-contained description of an actuator that summarizes all of the salient characteristics that the user must be aware of when choosing a device for their application. At the end some examples of compiled VSA datasheets are reported, as well as a few examples of actuator selection procedures.

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Section: Datasheet Usage Examplesmentioning

confidence: 99%

mentioning

confidence: 99%

Variable stiffness actuators: The user’s point of view

Grioli

Wolf²,

Garabini

et al. 2015

The International Journal of Robotics Research

169

View full text Add to dashboard Cite

show abstract

“…l 0 is a mean length which is also decided by the designer. Using (5), the acceleration input of the system (1) is described as below.…”

Section: B Analysis Of the Dynamical Modelmentioning

confidence: 99%

Jumping motion experiments on a NAO robot with elastic devices

Hondo

Kinase

Mizuuchi

2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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“…The velocity increasing effect in spring-motor coupling system had been analyzed by Takatoshi et al in 2011 [28]. The difference in angular velocity when normal link and spring is coupled with the motor is analyzed and had been concluded that the coupling system which uses spring with motor is highly efficient for a single link motor coupling system.…”

Section: Lintroductionmentioning

confidence: 99%

An underwater robot mimicking jet propulsion inspired by feather sea star

Francis

Gupta

Mukherjee

2015

2015 International Conference on Innovations in Information, Embedded and Communication Systems (ICIIECS)

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This paper introduces the design and modelling of an underwater robot, mimicking the prototype of Antedon Petasus (Feather sea star). The design includes springs and cables driven by servomotors for the tension control of springs. In underwater environment, soft skeleton mechanisms are needed for the proper interaction. This can be achieved by using soft robotic links like cable driven springs using servomotors in various propulsion patterns. The cable-driven structure is a kind of parallel mechanism transmitting forces and motions by cables which are connected to the motors mounted on a fixed base. Solidworks is

show abstract

Analysis of the 1-Joint Spring-Motor Coupling System and optimization criteria focusing on the velocity increasing effect

Cited by 15 publications

References 11 publications

Variable stiffness actuators: The user’s point of view

Variable stiffness actuators: The user’s point of view

Jumping motion experiments on a NAO robot with elastic devices

An underwater robot mimicking jet propulsion inspired by feather sea star

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