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Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability

Nagai, K., Ikegami, Y., Loureiro, R. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2008) Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2008), Xian, China, https://doi.org/10.1109/AIM.2008.4601712.

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To link to this item DOI: 10.1109/AIM.2008.4601712

Abstract/Summary

This paper describes a proposed admittance enhanced redundant joint mechanism (AERJM) which allows greater flexibility in the design of robotic joints. First, the basic concept of a redundant joint mechanism that reduces joint inertia is explained. Second, the AERJM structure is discussed. AERJM consists of a redundancy introducing mechanism (RIM), the adjustable admittance mechanism (AAM) and an admittance enhancing actuator. The working principles of the AERJM concept are analysed. The design and a working prototype, consisting of a variable reduction mechanism, along with a spring and a damper with constant coefficients, are described.

Item Type:Conference or Workshop Item (Paper)
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:14808
Uncontrolled Keywords:robot dynamics, shock absorbers, springs (mechanical) , adjustable admittance mechanism, admittance enhanced redundant joint mechanism, constant coefficients, dampers, redundancy introducing mechanism, robotic joints, springs, variable reduction mechanism
Publisher:IEEE

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