An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness
Joint Authors
Wang, Jirong
Zheng, Yuhang
Li, Jun
Liu, Cheng
Huang, Youliang
Liu, Yu
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-04-24
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper presents an output control for a manipulator by changing the spring stiffness.
Through the modeling and analysis of the nonlinear stiffness characteristics of the crank-rocker mechanism, and using the zero stiffness domain search method to select the appropriate spring stiffness, using different spring stiffness to establish different mechanism models, the robot can finally control the output of ideal constant force, and at the same time, the analysis results are applied to the improved design of the tire grabbing manipulator.
Through this method, the tire grabbing manipulator becomes a constant grabbing force mechanism, and the mechanism is transformed from a rigid-body mechanism to a pseudo-rigid-body mechanism.
The accuracy and stability of the whole system are greatly improved.
In this study, the method of adding spring to each joint of the linkage mechanism is applied to the improvement design of the linkage mechanism, and the four-bar constant force mechanism is designed for the first time, which expands the application field of the nonlinear stiffness characteristics of the linkage mechanism, and has great application value to the improvement design of the mechanical system with the linkage mechanism and the control of the output force.
American Psychological Association (APA)
Wang, Jirong& Zheng, Yuhang& Li, Jun& Liu, Cheng& Huang, Youliang& Liu, Yu. 2020. An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1193275
Modern Language Association (MLA)
Wang, Jirong…[et al.]. An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1193275
American Medical Association (AMA)
Wang, Jirong& Zheng, Yuhang& Li, Jun& Liu, Cheng& Huang, Youliang& Liu, Yu. An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1193275
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1193275