Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
نویسندگان
چکیده
Abstract Collaborative robots must simultaneously be safe enough to operate in close proximity human operators and powerful assist users industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that collaborative are designed with low-powered actuators. However, some may require the robot have high payload capacity and/or long reach. For designs successful, they find ways of addressing these conflicting design requirements. One promising strategy navigating this tradeoff is through use static balancing mechanisms offset robot’s self-weight, thus enabling selection In paper, we introduce a novel, two degrees-of-freedom mechanism based on spring-loaded, wire-wrapped cams. We also present an optimization-based cam method guarantees cams stay convex, ensures springs below their extensions limits, minimizes sensitivity unmodeled deviations from nominal spring constant. Additionally, model effect friction between wire cam. Lastly, show experimentally torque generated by matches predicted our modeling approach. Our results suggest effects wire-cam significant non-circular
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2023
ISSN: ['1942-4302', '1942-4310']
DOI: https://doi.org/10.1115/1.4056600