NDLI: Fast, Accurate Models for Predicting the Compliance of Elastic Flexure-Jointed Robots

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Odhner, Lael Dollar, Aaron
Copyright Year	2010
Abstract	Robot manipulators having elastic links or flexure joints have a number of advantages, especially in simplifying the control of contact with other objects. However, current simplified parametric models of flexure motion do not accurately predict the behavior of these mechanisms under large deflections. This paper presents a “smooth curvature model” of flexure behavior that describes the curvature of a highly flexible member such as a flexure joint using a basis of three orthogonal polynomials. Using this model, we show that it is possible to predict the planar stiffness these mechanisms, even in cases where the deformation of the hinge is too large for the linear Euler-Bernoulli beam bending model. Using both finite element methods and the much less computationally expensive proposed model, numerical results will demonstrate that it is possible to accurately predict the in-plane compliance of a highly flexible mechanism in the presence of an external load. The results of this work are significant because they demonstrate that the behavior of flexure-based robotic mechanisms can be modeled quickly and with few parameters, enabling their use in closed-loop control for situations where collision safety is a concern, and rigorous model-based path planning for obstacle avoidance, among other applications.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	629
Ending Page	635
Page Count	7
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-29002
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Bending (stress) Deformation Deflection Manipulators Path planning Finite element methods Robotics Stress Hinges Collisions (physics) Polynomials Stiffness Safety Robots
Content Type	Text
Resource Type	Article

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