期刊
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
卷 13, 期 1, 页码 -出版社
ASME
DOI: 10.1115/1.4048258
关键词
physical human-robot interaction; industrial robots; passive-active mechanism; mechanical impedance; underactuated robot
资金
- Natural Sciences and Engineering Research Council of Canada (NSERC)
- Fonds de recherche du Quebec - Nature et Technologies (FRQNT)
This paper introduces a novel 1-dof gravity balanced rotational manipulator for industrial assembly, demonstrating its viability in physical human-robot interaction through experimental validation.
This paper extends the concept of underactuated redundancy for physical human-robot interaction (pHRI) in a context of industrial assembly by introducing a novel 1-dof gravity balanced rotational manipulator. The proposed architecture consists of a rotational active counterweight with a passive joint equipped with an encoder. The proposed architecture is first described, and the static equilibrium conditions are used to describe the operation of the mechanism. Then, alternative architectures are briefly introduced. Finally, an experimental validation is provided to demonstrate the viability of the concept for rotational low impedance pHRI.
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