On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint

— In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the DLR QA-Joint. Its performance is investigated by various experiments, covering velocity increase using the elastic energy, joint protection capabilities, and control performance.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger
• Keywords: Compliant Joint Mechanisms, ICRA 2010, Joint Protection Capabilities, Performant Actuation, Robotics