An Engineering Method for Comparing Selectively Compliant Joints in Robotic Structures

作者：Berselli Giovanni^*; Guerra Alessandro; Vassura Gabriele; Andrisano Angelo Oreste

来源：IEEE/ASME Transactions on Mechatronics, 2014, 19(6): 1882-1895.

DOI：10.1109/TMECH.2014.2315508

• Design criteria
• large displacement compliant joints
• performance evaluation

Large displacement compliant joints can substitute traditional kinematic pairs in robotic articulated structures for increasing ease-of-assembly, robustness, and safety. Nonetheless, besides their limited motion capabilities, compliant joints might be subjected to undesired spatial deformations which can deteriorate the system stability and performance whenever a low number of control inputs is available. In all these cases, it is convenient to select/design joint morphologies which enable a selectively compliant behavior, i.e., a low stiffness along a single desired direction. Within this context, this paper outlines an engineering method for quantifying the joint%26apos;s selective compliance by means of local and global performance indices. The approach is validated by comparing two beam-like flexures whose analytic solution is known from the literature. Finally, two joint morphologies, previously employed in the fabrication of robotic/prosthetic hands, are critically compared on the basis of the proposed criteria.

• 出版日期2014-12