Stiffness Isn't Everything

10 years 6 months ago
Stiffness Isn't Everything
Most robot designers make the mechanical interface between an actuator and its load as stiff as possible[9][10]. This makes sense in traditional position-controlled systems, because high interface stiffness maximizes bandwidth and, for non-collocated control, reduces instability. However, lower interface stiffness has advantages as well, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less damage during inadvertent contact, and the potential for energy storage. The ability of series elasticity (usually in the form of a compliant coating on an endeffector) to stabilize force control during intermittent contact with hard surfaces is well known. This paper proposes that for natural tasks where small-motion bandwidth is not of paramount concern, actuator to load interfaces should be significantly less stiff than in most present designs. Furthermore, by purposefully placing the majority of interface elasticity inside of an actuator pack...
Gill A. Pratt, Matthew M. Williamson, Peter Dilwor
Added 26 Aug 2010
Updated 26 Aug 2010
Type Conference
Year 1995
Where ISER
Authors Gill A. Pratt, Matthew M. Williamson, Peter Dilworth, Jerry E. Pratt, Anne Wright
Comments (0)