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Driving torque reduction in linkage mechanisms using joint compliance for robot head

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Abstract

The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn’t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.

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Authors and Affiliations

  1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, 518055, China

    Chunhao Zhong & Xiaojun Yang

Authors
  1. Chunhao Zhong
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  2. Xiaojun Yang
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Corresponding author

Correspondence to Xiaojun Yang.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51105089), Shenzhen Engineering Laboratory of Industrial Robots and Systems(Grant No. A224412028), and Shenzhen Engineering Laboratory of Performance Robots at Digital Stage(Grant No. [2014]1507)

ZHONG Chunhao, born in 1990, is currently a master candidate at Shenzhen Graduate School, Harbin Institute of Technology, China. His research interests include robot head and structure optimization.

YANG Xiaojun, born in 1977, is currently an association professor at Shenzhen Graduate School, Harbin Institute of Technology, China. His research interests include serial and parallel mechanism, deals with the motion control, dynamics and calibration.

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Zhong, C., Yang, X. Driving torque reduction in linkage mechanisms using joint compliance for robot head. Chin. J. Mech. Eng. 28, 888–895 (2015). https://doi.org/10.3901/CJME.2015.0520.073

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  • DOI: https://doi.org/10.3901/CJME.2015.0520.073

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