Design of a robotic spherical wrist with variable stiffness

DOI10.20537/ND231203MaRDI QIDQ6492156zbMATH OpenFDO

Authors Alexandr Klimchik

Publication date 24 April 2024

Published in Russian Journal of Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.20537/ND231203

zbMATH Keywords

force compensationmanipulator designstatic balancingvariable stiffness

Mathematics Subject Classification ID

Dynamical systems and ergodic theory (37-XX)

Recommendations

• Dynamic compensability and compensability measure for robot systems with structural flexibility
• Raising the stiffness of manipulators with lightweight links
• Nonlinear feedback control of robot manipulator and compliant wrist
• Minimum energy control of robot manipulators using a simple variable stiffness mechanism
• Gravity Compensation for Mechanisms with Prismatic Joints

Cites work

• A cam mechanism for gravity-balancing
• Gravity compensation in robotics
• Gravity-balancing of spatial robotic manipulators
• Study of the antagonistic stiffness of parallel manipulators with actuation redundancy
• Variable stiffness mechanism for human-friendly robots

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