Next Article in Journal / Special Issue
A Smart Polymer Composite Based on a NiTi Ribbon and a Magnetic Hybrid Material for Actuators with Multiphysic Transduction
Previous Article in Journal
Role of α and β Transmembrane Domains in Integrin Clustering
Previous Article in Special Issue
Design and Characterization of a High-Precision Digital Electromagnetic Actuator with Four Discrete Positions
Article Menu

Export Article

Open AccessArticle
Actuators 2015, 4(4), 281-300; doi:10.3390/act4040281

Force-Sensing Actuator with a Compliant Flexure-Type Joint for a Robotic Manipulator

1
CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette F-91191, France
2
ARAID-EU, Centro Universitario de la Defensa, Ctra. de Huesca s/n, 50090 Zaragoza, Spain
3
LIAS-ENSIP, University of Poitiers, 86073 Poitiers, France
*
Author to whom correspondence should be addressed.
Academic Editor: Delbert Tesar
Received: 28 August 2015 / Revised: 13 November 2015 / Accepted: 23 November 2015 / Published: 3 December 2015
(This article belongs to the Special Issue High-Resolution Actuators)
View Full-Text   |   Download PDF [8957 KB, uploaded 4 December 2015]   |  

Abstract

This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key concepts that have guided the mechanical design rationale to provide the actuator with force sensing capabilities. Indeed, a self-sensing characteristic is achieved by the specific design of high-resolution cable-driven actuators based on a DC motor, a ball-screw and a monolithic compliant anti-rotation system together with a novel flexure pivot providing a frictionless mechanical structure. That novel compliant pivot with a large angular range and a small center shift has been conceived of to provide the inter-phalangeal rotational degree of freedom of the fingers’ joints to be used for integration in a multi-fingered robotic gripper. Simultaneously, it helps to remove friction at the joint level of the mechanism. Experimental tests carried out on a prototype show an accurate matching between the model and the real behavior. Overall, this mechatronic design contributes to the improvement of the manipulation skills of robotic grippers, thanks to the combination of high performance mechanics, high sensitivity to external forces and compliance control capability. View Full-Text
Keywords: mechatronic design; actuated joint; flexible pivot; tendon-driven actuator; robotic multi-fingered gripper mechatronic design; actuated joint; flexible pivot; tendon-driven actuator; robotic multi-fingered gripper
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Grossard, M.; Martin, J.; Huard, B. Force-Sensing Actuator with a Compliant Flexure-Type Joint for a Robotic Manipulator. Actuators 2015, 4, 281-300.

Show more citation formats Show less citations formats

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Actuators EISSN 2076-0825 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top