This paper describes the design and experimental testing of a variable effective compliance transmission for use with revolute joints in robotic systems. The transmission consists of a parallel arrangement of a torsional spring and a rotary magnetorheological (MR) fluid damper and is placed between a brush–less DC gearmotor and an end-effector. While the stiffness of the torsional spring is constant, the damping of the MR damper can be adjusted by changing the applied current, which alters the apparent rigidity of the system. Hence, the transmission exhibits a variable “effective compliance”. Experimental results show that increasing the damping can reduce position errors during acceleration and deceleration phases of motion. Impact tests indicate that for small currents applied to the damper (low damping), the presence of the torsional spring reduces impact loads during constant velocity motion. In combination, these results indicate that the variable effective compliance transmission can improve safety without sacrificing precise motion control.
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ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4904-0
PROCEEDINGS PAPER
Design and Testing of a Variable Effective Compliance Transmission With an MR Damper
Tiffany L. Parker,
Tiffany L. Parker
Rockwell Automation, Cleveland, OH
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James P. Schmiedeler,
James P. Schmiedeler
University of Notre Dame, Notre Dame, IN
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Eric R. Westervelt
Eric R. Westervelt
GE Global Research, Niskayuna, NY
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Tiffany L. Parker
Rockwell Automation, Cleveland, OH
James P. Schmiedeler
University of Notre Dame, Notre Dame, IN
Eric R. Westervelt
GE Global Research, Niskayuna, NY
Paper No:
DETC2009-87361, pp. 739-747; 9 pages
Published Online:
July 29, 2010
Citation
Parker, TL, Schmiedeler, JP, & Westervelt, ER. "Design and Testing of a Variable Effective Compliance Transmission With an MR Damper." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B. San Diego, California, USA. August 30–September 2, 2009. pp. 739-747. ASME. https://doi.org/10.1115/DETC2009-87361
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