An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and DesignSource: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004::page 41012DOI: 10.1115/1.4032811Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design of an underactuated robotic arm for capturing moving targets with an impactabsorbing capability. The arm consists of three joints (a base joint (BJ), a medial joint (MJ), and a distal joint (DJ)) that are driven by two actuators. A oneinput dualoutput planetary gear (PG) system, in which neither the ring gear nor the planetary carrier is fixed, is employed to distribute the driving torque between the MJ and DJ. As is well known, an underactuated arm may exhibit unstable grasping performance such that the arm loses contact with the target in certain grasping postures. Therefore, a method is presented for analyzing the equilibrium contact force and the relative movement trend between the target and the arm to determine the work space in which stable grasping is possible. The structural configuration parameters, such as the length ratios among the three beams and the reduction ratio of the PG system, were optimized to maximize the grasp stability work space. Subsequently, a prototype was designed and fabricated based on these optimized parameters. Experiments indicate that this arm design can effectively reduce the peak torque on the joints when grasping a moving target.
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contributor author | Wang, Qingchuan | |
contributor author | Quan, Qiquan | |
contributor author | Deng, Zongquan | |
contributor author | Hou, Xuyan | |
date accessioned | 2017-05-09T01:31:36Z | |
date available | 2017-05-09T01:31:36Z | |
date issued | 2016 | |
identifier issn | 1942-4302 | |
identifier other | jmr_008_04_041012.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161964 | |
description abstract | This paper presents the design of an underactuated robotic arm for capturing moving targets with an impactabsorbing capability. The arm consists of three joints (a base joint (BJ), a medial joint (MJ), and a distal joint (DJ)) that are driven by two actuators. A oneinput dualoutput planetary gear (PG) system, in which neither the ring gear nor the planetary carrier is fixed, is employed to distribute the driving torque between the MJ and DJ. As is well known, an underactuated arm may exhibit unstable grasping performance such that the arm loses contact with the target in certain grasping postures. Therefore, a method is presented for analyzing the equilibrium contact force and the relative movement trend between the target and the arm to determine the work space in which stable grasping is possible. The structural configuration parameters, such as the length ratios among the three beams and the reduction ratio of the PG system, were optimized to maximize the grasp stability work space. Subsequently, a prototype was designed and fabricated based on these optimized parameters. Experiments indicate that this arm design can effectively reduce the peak torque on the joints when grasping a moving target. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design | |
type | Journal Paper | |
journal volume | 8 | |
journal issue | 4 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4032811 | |
journal fristpage | 41012 | |
journal lastpage | 41012 | |
identifier eissn | 1942-4310 | |
tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004 | |
contenttype | Fulltext |