External Force Adaptive Compensator for Serial Manipulators

Albert Demian, Alexander Klimchik

2022

Abstract

We propose a preliminary design concept for the external force compensator. An arrangement of lever-wheel arrangement with a group of springs producing counter torque to compensate for external force. The springs are fixed on adjustable pivot points to allow compensation of a range of payloads. We introduce the use of self-locking worm gears to ensure the compensator’s torque is purely applied on either the wheel or the lever. We investigated the compensator design with a 2-DOF manipulator which consists of two orthogonal rotational joints. We present a design methodology to the compensator together with a selection of spring coefficients to match a certain range of payloads. Results of the simulation show complete compensation of external force is possible as compensation of certain components of the force vectors.

Paper Citation

in Harvard Style

Demian A. and Klimchik A. (2022). External Force Adaptive Compensator for Serial Manipulators. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 500-507. DOI: 10.5220/0011319700003271

in Bibtex Style

@conference{icinco22,
author={Albert Demian and Alexander Klimchik},
title={External Force Adaptive Compensator for Serial Manipulators},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={500-507},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011319700003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - External Force Adaptive Compensator for Serial Manipulators
SN - 978-989-758-585-2
AU - Demian A.
AU - Klimchik A.
PY - 2022
SP - 500
EP - 507
DO - 10.5220/0011319700003271