This paper proposes a method of stiffness design for a spatial Three Degrees of Freedom (3DOF) serial compliant manipulator with the objective of protecting the compliant joint actuators when the manipulator comes up against impact. System dynamic equations of serial compliant manipulators integrated with an impact model are linearized to identify the maximum joint torques in the impact. Based on this, a general procedure is given in which maximum joint torques are calculated with different directions of end-effector velocity and impact normal in the manipulator workspace based on a given magnitude of end-effector velocity. By tuning the stiffness for each compliant joint to ensure the maximum joint torque does not exceed the maximum value of the actuator, candidate stiffness values are obtained to make the compliant actuators safe in all cases. The theory and procedure are then applied to the spatial 3DOF serial compliant manipulator of which the impact configuration is decomposed into a 2DOF planar serial manipulator and a 1DOF manipulator with a 2DOF link based on the linearized impact-dynamic model. Candidate stiffness of the 3DOF serial compliant manipulator is obtained by combining analysis of the 2DOF and 1DOF manipulators. The method introduced in this paper can be used for both planar and spatial compliant serial manipulators.
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February 2013
Research-Article
Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
Dongming Gan,
Dongming Gan
1
Robotics Institute
,Khalifa University of Science, Technology and
Research
,127788, Abu Dhabi, UAE;
Advanced Robotics Department
,Istituto Italiano di Tecnologia
,Genova 16163
, Italy
1Corresponding author.
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Nikos G. Tsagarakis,
Nikos G. Tsagarakis
Advanced Robotics Department
,Istituto Italiano di Tecnologia
,Genova 16163
, Italy
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Jian S. Dai,
Jian S. Dai
King's College London
,University of London
, Strand
,London WC2R2LS
, UK
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Darwin G. Caldwell,
Darwin G. Caldwell
Advanced Robotics Department
,Istituto Italiano di Tecnologia
,Genova 16163
, Italy
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Lakmal Seneviratne
Lakmal Seneviratne
Robotics Institute
,Khalifa University of Science, Technology and
Research
,127788, Abu Dhabi, UAE;
King's College London
,University of London
, Strand
,London WC2R2LS
, UK
Search for other works by this author on:
Dongming Gan
Robotics Institute
,Khalifa University of Science, Technology and
Research
,127788, Abu Dhabi, UAE;
Advanced Robotics Department
,Istituto Italiano di Tecnologia
,Genova 16163
, Italy
Nikos G. Tsagarakis
Advanced Robotics Department
,Istituto Italiano di Tecnologia
,Genova 16163
, Italy
Jian S. Dai
King's College London
,University of London
, Strand
,London WC2R2LS
, UK
Darwin G. Caldwell
Advanced Robotics Department
,Istituto Italiano di Tecnologia
,Genova 16163
, Italy
Lakmal Seneviratne
Robotics Institute
,Khalifa University of Science, Technology and
Research
,127788, Abu Dhabi, UAE;
King's College London
,University of London
, Strand
,London WC2R2LS
, UK
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received March 20, 2012; final manuscript received June 7, 2012; published online October 1, 2012. Assoc. Editor: Federico Thomas.
J. Mechanisms Robotics. Feb 2013, 5(1): 011002 (10 pages)
Published Online: October 1, 2012
Article history
Received:
March 20, 2012
Revision Received:
June 7, 2012
Citation
Gan, D., Tsagarakis, N. G., Dai, J. S., Caldwell, D. G., and Seneviratne, L. (October 1, 2012). "Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition." ASME. J. Mechanisms Robotics. February 2013; 5(1): 011002. https://doi.org/10.1115/1.4007492
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