Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators
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Date
May-18
Authors
Pisetskiy, Sergey
Kermani, Mehrdad
Journal Title
Journal ISSN
Volume Title
Publisher
CSME-SCGM
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
Description
Keywords
Mechatronics, Robots and Control