Design of a Passive, Bidirectional Overrunning Clutch for Rotary Joints of Autonomous Robots

Simulation and experimental research on dynamic characteristics of overrunning clutch

“…From the four overrunning clutch models shown in Eqs. (1), (2), (4) and (6), and the dynamic model of the overrunning clutch-single gear pair system shown in (7). The simulation models of rotational speed discrepancy model with angle compensation and rotational angle discrepancy model with angle compensation were established in Simulink as shown in Fig.…”

“…For example, it can be used on vehicles to realize the separate functions of the engine and starter [1], torque converters to restrict the one-way guide rotation [2] and driving systems for front-end accessories of the engine to realize a shock-absorbing function [3,4]. Research on overrunning clutches has mainly concentrated on the mechanism design and reliability analysis corresponding to the application environment [5][6][7], analysis of contact stress, fatigue life and overload capacity [8][9][10], and dynamic characteristic of the overrunning clutch [11][12][13][14] and its transmission system. Depending on the modeling method, the dynamic models of the overrunning clutch are divided into physical models and mathematical models based on the finite element software or multi-body dynamics software.…”

Language Grounding in Robots

“…Besides the camera, there are over 200 sensor values of the following types: joint angle, motor angle, motor current, motor temperature, acceleration force, contact force, battery voltage. Following the outline in (Hild et al, 2011b), we will now detail selected parts of the mechanical construction. The Myon robot is highly modular, not only regarding the use of different internal components, but also as a functional robot platform itself.…”

“…Using antagonistic techniques -inspired by biological mechanisms -the non-linearities like friction and backlash can be overcome. Due to the modular approach, also alternative types of clutches can be installed, e.g., novel overrunning clutches (Hild et al, 2011b;Siedel et al, 2011b). …”

“…Modern robots still lack the robustness of biological individuals when considering abilities like walking or standing up. Here, we will briefly review Cognitive Sensorimotor Loops (CSLs) as introduced in Hild and Kubisch (2011) and use them for the creation of motions as well as for balance recovery on the modular humanoid robot Myon (Hild et al, 2011b). We will also discuss the CSLs' properties and demonstrate the behavioral capabilities of a single robot leg controlled by CSLs.…”