Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators
| dc.contributor.author | Pisetskiy, Sergey | |
| dc.contributor.author | Kermani, Mehrdad | |
| dc.date.accessioned | 2018-11-06T14:00:48Z | |
| dc.date.available | 2018-11-06T14:00:48Z | |
| dc.date.issued | May-18 | |
| dc.description.abstract | This paper presents the mechanical design and mathematical modeling for the first joint of a five degrees of freedom collaborative manipulator. The robot is actuated using Magneto-Rheological (MR) clutches in order to ensure full backdrivability and intrinsic torque control for safe human-friendly operation. One of the unique features of this design is the usage of a single motor for powering all five joints of the robot simultaneously and independently. After a brief description of the MR clutch principles, the details of the mechanical design and a state-space representation of the first joint are discussed. The paper will conclude with some preliminary simulation results | |
| dc.identifier | CSME162 | |
| dc.identifier.issn | 978-1-77355-023-7 | |
| dc.identifier.uri | http://hdl.handle.net/10315/35244 | |
| dc.identifier.uri | http://dx.doi.org/10.25071/10315/35244 | |
| dc.language.iso | en | en_US |
| dc.publisher | CSME-SCGM | en_US |
| dc.rights | The copyright for the paper content remains with the author. | |
| dc.subject | Mechatronics | en_US |
| dc.subject | Robots and Control | en_US |
| dc.title | Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators | en_US |
| dc.type | Article | en_US |