Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability

Nagai, K., Ikegami, Y., Loureiro, R. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2008) Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2008), Xian, China. doi: 10.1109/AIM.2008.4601712

Abstract/Summary

This paper describes a proposed admittance enhanced redundant joint mechanism (AERJM) which allows greater flexibility in the design of robotic joints. First, the basic concept of a redundant joint mechanism that reduces joint inertia is explained. Second, the AERJM structure is discussed. AERJM consists of a redundancy introducing mechanism (RIM), the adjustable admittance mechanism (AAM) and an admittance enhancing actuator. The working principles of the AERJM concept are analysed. The design and a working prototype, consisting of a variable reduction mechanism, along with a spring and a damper with constant coefficients, are described.