We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.
Design and Control of a Compliant Parallel Manipulator
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 2000. Associate Editor: K. Farhang.
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Sugar, T. G., and Kumar, V. (November 26, 2002). "Design and Control of a Compliant Parallel Manipulator ." ASME. J. Mech. Des. December 2002; 124(4): 676–683. https://doi.org/10.1115/1.1517568
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