Adjustable Compliance Joint with Torsion Spring for Human Centred Robots | Zendy

Dimitar Chakarov | Zendy; Mihail Tsveov | Zendy; Ivanka Veneva | Zendy; Peter Mitrouchev | Zendy

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Adjustable Compliance Joint with Torsion Spring for Human Centred Robots

Author(s) -

Dimitar Chakarov,

Mihail Tsveov,

Ivanka Veneva,

Peter Mitrouchev

Publication year - 2015

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/61931

Subject(s) - torsion spring , torsion (gastropod) , computer science , stiffness , torque , robot , spring (device) , joint stiffness , simulation , control theory (sociology) , structural engineering , artificial intelligence , physics , engineering , control (management) , medicine , surgery , thermodynamics

Human-oriented robots should be human-friendly, safe and impact-free. The present work is about the problem of adjustable compliance implementation in human-friendly robots. A new passive compliance adjustable compliant joint based on a variable length leaf torsion spring is presented. It allows a wide range of independent positioning and stiffness regulation. Some characteristics of the leaf torsion spring are analysed: stiffness\compliance, torque, elastic deformation angle and generated potential energy. Numerical simulations are performed. The structural parameters' influence on the compliant joint's characteristics is estimated. Tests on a specially realized prototype of an adjustable compliant joint are carried out. The basic prototype characteristics are evaluated. The experiments show a very good correlation with the numerical simulations

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