Browsing by Author "Kuo, Chung-Hsien"

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Study on the characteristics of a homemade differential-velocity-type compliant joint for robotic manipulators
(2015-09-01)
Hu, Jwu-Sheng
;
Wu, Cheng-Hua
;
Tsai, Yi-Jeng
;
Kuo, Chung-Hsien
;
電子工程學系及電子研究所
Design of a new differential-velocity-type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity-type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretical analysis, and the experiments are presented in this article. The experimental results showed that (1) the stiffness of the differential-velocity-type joint can be regulated by changing the speeds of both motors, (2) the differential-velocity-type joint actually reduced 7.9%-15.7% time compared with the single-drive joint when performing five cycles of reciprocation, and (3) a new design of delta-type robot with differential-velocity-type driving modules was developed for verification. The experimental results showed that the differential-velocity-type delta robot can perform flexible assembly operations within a 0.028-mm tolerance.