A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.

Bibliographic Details
Main Author:	Hu, Ruiqi
Language:	English
Published:	The Ohio State University / OhioLINK 2017
Subjects:	Mechanical Engineering Robotic Arm Compliant Mechanism Parallel Guided Beam Linear Actuated Design Arduino PID Control
Online Access:	http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533

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spelling	ndltd-OhioLink-oai-etd.ohiolink.edu-osu15117962006035332021-08-03T07:04:45Z A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism. Hu, Ruiqi Mechanical Engineering Robotic Arm Compliant Mechanism Parallel Guided Beam Linear Actuated Design Arduino PID Control This thesis presents the development details of a human safety robotic arm design with variable stiffness, starting from an initial conceptual design to prototype validations. Instead of changing the compliance of the joint, this design concept introduces compliance to the robotic link itself. The mechanism of the design is a parallel guided beam with a slider linear actuated by a power screw and a DC motor. By controlling the slider position, the effective length of the robotic arm link can be adjusted to achieve necessary stiffness change. The stiffness variation capability of the effective length concept was first validated on a physical conceptual model by experiments. For comparison, a simulation model was also created for the structure of the robotic arm in Abaqus using finite element methods. All the analysis, simulation and tests performed in this research were based on small beam bending deflections. A prototype was developed based on the conceptual model, having transmission and actuation module integrated. Simple and accurate PID position control using Arduino for rapid prototyping is also demonstrated in this thesis. The performance of the prototype was evaluated by two categories of experiments: stiffness tests and PID position calibration. The overall stiffness change ratio achieved was around 20 times by static stiffness test results. The position steady state error and the overshoot of the system was within 0.5mm. 2017 English text The Ohio State University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533 http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection	NDLTD
language	English
sources	NDLTD
topic	Mechanical Engineering Robotic Arm Compliant Mechanism Parallel Guided Beam Linear Actuated Design Arduino PID Control
spellingShingle	Mechanical Engineering Robotic Arm Compliant Mechanism Parallel Guided Beam Linear Actuated Design Arduino PID Control Hu, Ruiqi A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.
author	Hu, Ruiqi
author_facet	Hu, Ruiqi
author_sort	Hu, Ruiqi
title	A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.
title_short	A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.
title_full	A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.
title_fullStr	A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.
title_full_unstemmed	A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.
title_sort	variable stiffness robotic arm design using linear actuated compliant parallel guided mechanism.
publisher	The Ohio State University / OhioLINK
publishDate	2017
url	http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533
work_keys_str_mv	AT huruiqi avariablestiffnessroboticarmdesignusinglinearactuatedcompliantparallelguidedmechanism AT huruiqi variablestiffnessroboticarmdesignusinglinearactuatedcompliantparallelguidedmechanism
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A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.

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