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A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks
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DOI：10.1016/j.rcim.2023.102642.png)
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Abstract
En 中文
In order to combine low mechanical impedance and sufficient interaction forces, a six-degree-of-freedom robot featuring a mechanically backdrivable transmission with a low reduction ratio is proposed in this paper. Also, a parallel architecture is used in order to allow the use of relatively large and high-torque actuators. The architecture of the robot is first presented. Then, the geometry of the robot and the ratio of the transmissions are analysed in order to ensure that the selected design parameters yield the desired properties. Shock absorbers are also included in the legs of the robot so that impacts can be applied, e.g., for the assembly of some components. Then, algorithms are presented for Cartesian stiffness control and gravity compensation of the robot. Finally, a prototype is presented and validated experimentally for position control, impedance control and impact generation. The parallel robot presented in this paper is of particular interest for industrial assembly tasks.
Keywords:
Sensorless robot interaction
Parallel robot
Backdrivable robot
Robot design
Physical human-robot interaction
Journal
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IF:
11.4
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3.3K
Citations:
1.3W