Design of redundant drive joints with double actuation using springs in the second actuator to avoid excessive active torques

Nagai, Kiyoshi, Dake, Y., Shiigi, Y., Loureiro, Rui C. V. and Harwin, William (2010) Design of redundant drive joints with double actuation using springs in the second actuator to avoid excessive active torques. In: 2010 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 805-812. ISBN 9781424450381 (print) ; 9781424450404 (ebook). [Book Section] (doi:10.1109/ROBOT.2010.5509902)

Abstract

This paper discusses the design of a Redundant Drive Joint with Double Actuation (RDJ-DA) to produce controlled compliant motions over a higher bandwidth. First, our strategies on mechanical and controller designs to produce compliant motions are described, and the basic structure and impedance control of the RDJ-DA with internal serial structure explained. The standard form of the basic structure is introduced using a set of parameters which can be used to express the inertia property of RDJ-DA. Second, a problem statement for the design of RDJ-DAs is described after pointing out that required torques of the second actuator of the RDJ-DA could be large. Then, a basic idea of introducing springs into the second actuator in parallel is proposed as a part of the structural design of RDJ-DA to reduce the large torques. Simulations are conducted to find out a set of the design parameters of RDJ-DA which obtains a higher natural frequency of the output joint admittance satisfying both the desired output joint admittance and the limitations of two identical motors on their performance. Finally, a prototype design of RDJ-DA using the obtained set of the design parameters is presented.

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