Design of a Flexibly-Constrained Revolute Pair with Non-Linear Stiffness for Safe Robot Mechanisms

Kimura, Naoto; Iwatsuki, Nobuyuki; Ikeda, Ikuma

doi:10.20965/jrm.2019.p0156

Cited by 4 publications

(7 citation statements)

References 22 publications

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“…The broken blue line in Fig. 14 (a) is the theoretical characteristics which were calculated with the method described in the authors' previous work (Kimura et al, 2019). Note that the coefficient of static friction between the two links of the MFCRP was 0.05.…”

Section: Flexibility Of the Output Pointmentioning

confidence: 89%

“…The specified force-displacement characteristics were based on the contact point between the two surfaces of the MFCRP so that the size of the MFCRP becomes compact. In the authors' previous work, a planar closed-loop five-bar linkage with the previous FCRPs was fabricated (Kimura et al, 2019). Although the previous mechanism has flexibility only in the motion plane, the flexible linkage in this paper has a flexibility not only in the motion plane but also in the out of the motion plane because the MFCRP has flexibility in multiple directions.…”

Section: Applicationmentioning

confidence: 95%

“…As the non-linear stiffness implemented in x 1 and y 1 directions, the following two types of force-displacement characteristics can be considered as in the design of the previous FCRP (Kimura et al, 2019).…”

Section: Design Methodologymentioning

confidence: 99%

“…These methods can be achieved by antagonizing non-linear springs (Migliore et al, 2005) (Palli et al, 2011) (Petit et al, 2015), changing the transmission of spring forces (Kim and Song, 2010) (Jafali et al, 2014), or changing preload applied to the springs (Wolf and Hirzinger, 2008) (Wolf et al, 2011) Kimura, Iwatsuki andIkeda, Mechanical Engineering Journal, Vol.7, No.4 (2020) [DOI: 10.1299/mej.20-00039] Fig. 1 The concept of the flexibly constrained revolute pair (FCRP) (Kimura et al, 2019) Fig. 2 The structure of the multi-directionally FCRP (MFCRP) with an additional actuator.…”

Section: Introductionmentioning

confidence: 99%

“…However, those joint mechanisms are not so simple because of the large number of mechanical elements. In order to simplify the structure of a flexible revolute pair, the authors have proposed the flexibly constrained revolute pair (FCRP) (Kimura et al, 2019), which is a passive revolute pair with non-linear stiffness in a relative translational direction in the motion plane. The schematic diagram of the FCRP is shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

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Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

Kimura

Iwatsuki

Ikeda

2020

Mechanical Engineering Journal

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In order to synthesize a human-friendly flexible mechanism with a simple structure, a revolute pair with flexible kinematic constraint in multiple directions is proposed. It is called the multi-directionally flexibly constrained revolute pair (MFCRP). The structure of the MFCRP is composed of a link with two same spherical surfaces and a link with two same cam surfaces, and each set of the cam surface and the spherical surface is in contact at a point. The connection between the two links is kept by two linear springs arranged between the two links. The MFCRP can generate 1-axial relative rotation between the two links and relative motions in the other directions are flexibly constrained. In order for the MFCRP to have both flexibility for safety and rigidity for the force transmission, the specified non-linear stiffness can be implemented in the two relative translational directions between the two links. This flexible translational constraint is generated by the spring forces and the reaction forces between the two links. In this paper, two methods to design the cam surfaces to implement the specified non-linear stiffness are proposed. The validity of the proposed design methodology is confirmed by comparing measured stiffness characteristics between two links of some prototypes with the theoretical characteristics. As an application, a flexible closed-loop linkage with the MFCRP is fabricated and its flexibility and kinematic performance are investigated through some experiments.

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Section: Flexibility Of the Output Pointmentioning

confidence: 89%

Section: Applicationmentioning

confidence: 95%

Section: Design Methodologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

Kimura

Iwatsuki

Ikeda

2020

Mechanical Engineering Journal

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Research on the Positioning Accuracy of the Drill Pipe Manipulator Based on the Flexible Revolute Pair

Chen

Wei

2022

2022 6th International Conference on Robotics and Automation Sciences (ICRAS)

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An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions

Kimura¹,

Iwatsuki

Ikeda

2021

Mechanical Engineering Journal

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Flexibility is a required property for a machine used in human daily life to reduce a load applying to it when it bumps with a human or adapt to an uncertain environment in a manipulation task. However, flexibility for such purposes and rigidity for force transmission to do a task are in a trade-off relationship. Therefore, to balance between them based on the desired task is an important issue.Flexible mechanisms can be achieved as an underactuated mechanism whose redundant passive DOF (degree of freedom) is constrained with elastic elements. In order to balance between flexibility and rigidity, many approaches to control compliance of kinematic pairs in the mechanisms have been proposed. One of the approaches is the active compliance approach (Salisbury, 1980) (Hogan, 1991). This approach can adjust output compliance by controlling the impedance of rotary actuators, such as motors. However, a sophisticated control system is required to respond to a sudden change of an external force, such as dynamic collision. Another approach is the passive compliance approach. In this approach, passive compliance is implemented into kinematic pairs with some elastic elements, such as linear springs. In order to balance between flexibility and rigidity, methods to adjust the passive compliance to the desired compliance with an additional actuator have been proposed. These methods can be achieved by antagonizing non-linear springs (

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Design of a Flexibly-Constrained Revolute Pair with Non-Linear Stiffness for Safe Robot Mechanisms

Cited by 4 publications

References 22 publications

Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

Research on the Positioning Accuracy of the Drill Pipe Manipulator Based on the Flexible Revolute Pair

An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions

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