Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability
Nagai, K., Ikegami, Y., Loureiro, R. and Harwin, W.S. (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.
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To link to this item DOI: 10.1109/AIM.2008.4601712
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.