Sciweavers

Share
ICRA
2010
IEEE

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

8 years 2 months ago
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.
Oliver Eiberger, Sami Haddadin, Michael Weis, Alin
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger
Comments (0)
books