3-DOF planar manipulator utilizing compliant joints with variable stiffness

Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F19%3A00336806" target="_blank" >RIV/68407700:21220/19:00336806 - isvavai.cz</a>
Výsledek na webu
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Jazyk výsledku
angličtina
Název v původním jazyce
3-DOF planar manipulator utilizing compliant joints with variable stiffness
Popis výsledku v původním jazyce
Incorporating collaborative robots is one of today’s frequent practices on the way to more productive manufacturing plants. Collaborative robots suffer limitations in heavy load carrying or speed of movement, which could cause dangerous situations. One way of guarantying safety and preserving accuracy could be utilizing variable stiffness actuators in joints of a manipulator. In this paper we present 3-DOF planar manipulator with one kind of such an actuator. Behaviour of this structure with suitable control is studied based on multiple simulations.
Název v anglickém jazyce
3-DOF planar manipulator utilizing compliant joints with variable stiffness
Popis výsledku anglicky
Incorporating collaborative robots is one of today’s frequent practices on the way to more productive manufacturing plants. Collaborative robots suffer limitations in heavy load carrying or speed of movement, which could cause dangerous situations. One way of guarantying safety and preserving accuracy could be utilizing variable stiffness actuators in joints of a manipulator. In this paper we present 3-DOF planar manipulator with one kind of such an actuator. Behaviour of this structure with suitable control is studied based on multiple simulations.

Rok uplatnění
2019
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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