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Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators

Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators

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Title: Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators
Author: Pisetskiy, Sergey
Kermani, Mehrdad
Identifier: CSME162
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
Subject: Mechatronics
Robots and Control
Type: Article
Rights: The copyright for the paper content remains with the author.
URI: http://hdl.handle.net/10315/35244
http://dx.doi.org/10.25071/10315/35244
Published: CSME-SCGM
ISSN: 978-1-77355-023-7
Date: 2018-05

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