On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint

In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the...

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Bibliographic Details
Main Authors: Eiberger, Oliver, Haddadin, Sami, Weis, Michael, Albu-Schäffer, Alin, Hirzinger, Gerd
Format: Conference Proceeding
Language:English
Subjects:
Drives
Iron
Lighting control
Protection
Robot kinematics
Robotics and automation
Robustness
Torque
USA Councils
Velocity control
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Description
Summary:In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the DLR QA-Joint. Its performance is investigated by various experiments, covering velocity increase using the elastic energy, joint protection capabilities, and control performance.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2010.5509662