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Design and Impedance Control of the Integrated Rotary Compliant Joint

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Advances in Mechanical Design (ICMD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 55))

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Abstract

In order to make robots adapt the complex work environments and guarantee safety during physical human-robot interactions, an integrated rotary compliant joint with active and passive compliance is proposed. Passive compliance is derived from a designed series elastic actuator (SEA) equipped between the harmonic reducer and the load link. The SEA is mainly composed of linear springs so that the compliant joint may minimize large forces from collision and store energy in the elastic elements. Meanwhile, the variable stiffness model of the joint is established. The torque of the compliant joint is obtained by measuring the deflections between motor and link through an encoder but a torque sensor, furthermore the obtained torque is used as feedback to realize force closed-loop. The dynamic model of the designed integrated compliant joint is established, and the active compliance is achieved by impedance control. To ensure safety, the joint torque is monitored to a threshold to adjust the desired trajectory. The experiment indicate that, the designed integrated compliant joint can provide enough effective compliance during the human-robot interactions, which meets the requirements for the safety of robot.

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Acknowledgements

This work is supported by National Nature Science Foundation of China (Grant No. 81473694) and major project of Zhongshan city (Grant No. 2016A1027).

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Authors and Affiliations

  1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Leping Chen, Hongsheng Ding & Tie Fu

  2. School of Automation, Beijing Institute of Technology, Beijing, 100081, China

    Jian Li

  3. Research Institute of BIT in Zhongshan, Guangdong, China

    Liwei Shao

Authors
  1. Leping Chen
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  2. Hongsheng Ding
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  3. Tie Fu
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  4. Jian Li
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  5. Liwei Shao
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Corresponding author

Correspondence to Tie Fu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Jianrong Tan

  2. Shanghai Jiao Tong University , Shanghai, China

    Feng Gao

  3. Beijing Institution of Technology, Beijing, China

    Changle Xiang

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Chen, L., Ding, H., Fu, T., Li, J., Shao, L. (2018). Design and Impedance Control of the Integrated Rotary Compliant Joint. In: Tan, J., Gao, F., Xiang, C. (eds) Advances in Mechanical Design. ICMD 2017. Mechanisms and Machine Science, vol 55. Springer, Singapore. https://doi.org/10.1007/978-981-10-6553-8_75

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  • DOI: https://doi.org/10.1007/978-981-10-6553-8_75

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6552-1

  • Online ISBN: 978-981-10-6553-8

  • eBook Packages: EngineeringEngineering (R0)

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