English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents the mechanical design and mathematical modeling for the first joint of a five degrees of freedom collaborative manipulator. The robot is actuated using Magneto-Rheological (MR) clutches in order to ensure full backdrivability and intrinsic torque control for safe human-friendly operation. One of the unique features of this design is the usage of a single motor for powering all five joints of the robot simultaneously and independently. After a brief description of the MR clutch principles, the details of the mechanical design and a state-space representation of the first joint are discussed. The paper will conclude with some preliminary simulation results.

Design And Simulation Of The First Joint For A Prospective 5 Degrees Of Freedom Manipulator With Mr Actuators