Paper Info
Title
A proposal of a new rotational-compliant joint with oil-hydraulic McKibben artificial muscles.
Abstract
Conventional hydraulic actuators can generate a strong force due to high pressure. However, most of them are heavy and hard because they are made of metal. It is difficult to use such actuators in robots required to be as light as possible. Moreover, the joint mechanisms of these actuators have problems with intrinsic safety and robustness because the compliance is acquired using delicate sensors and advanced controls. Therefore, we propose a new rotational-compliant mechanism that allows the coexistence of strong force and compliance. The proposed mechanism has compliance in an active rotational direction and in two directions orthogonal to it. To realize this mechanism, we have developed a Hydraulic Artificial Muscle (HAM), which is very lightweight and able to generate strong force. Furthermore, the HAM has compliance without any advanced control. By exploiting the characteristics of the HAM, the function of the proposed mechanism can be realized even in conditions of compact dimensions. In this paper, by constructing a simple experimental system that imitates the proposed mechanism, and by modeling it, we verify its compliance from both a theoretical and an experimental point of view. We demonstrate that the mechanism has compliance in the three rotational directions.
Year
DOI
Venue
2018
10.1080/01691864.2018.1464946
ADVANCED ROBOTICS
Keywords
Field
DocType
Hydraulic artificial muscle,hydraulic actuator,antagonistic drive,rotational compliant mechanism,tough robotics
Intrinsic safety,Control theory,High pressure,Robustness (computer science),Engineering,Artificial muscle,Robot,Strong interaction,Actuator,Hydraulic cylinder
Journal
Volume
Issue
ISSN
32.0
SP9
0169-1864
Citations 
PageRank 
References 
0
0.34
9
Authors
4
Name
Order
Citations
PageRank
Ryusuke Morita100.68
Hiroyuki Nabae21712.12
Gen Endo348953.07
Koichi Suzumori422765.75