Hostname: page-component-77c89778f8-7drxs Total loading time: 0 Render date: 2024-07-23T04:27:48.675Z Has data issue: false hasContentIssue false
  • English
  • Français

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

Published online by Cambridge University Press:  14 January 2019

Mitsunori Uemura ,
Yuki Mitabe  and
Sadao Kawamura
Mitsunori Uemura*
Affiliation:
School of Engineering Science, Osaka University, Osaka, Japan
Yuki Mitabe
Affiliation:
Department of Robotics, Ritsumeikan University, Shiga, Japan
Sadao Kawamura
Affiliation:
Department of Robotics, Ritsumeikan University, Shiga, Japan
*
*Corresponding author. E-mail: uemura-m@me.es.osaka-u.ac.jp
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

Keywords

Gravity compensationGripping force compensationHand-arm robotWire-driven robotLightweight robotLow-reduction reducer
Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 1090 - 1103
Copyright
Copyright © Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Albu-Schaffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Ott, C., Wimbock, T., Wolf, S. and Hirzinger, G., “Soft robotics,” IEEE Rob. Autom. Mag. 15(3), 20–30 (2008).CrossRefGoogle Scholar
Salomonski, N., Shoham, M. and Grossman, G., “Light robot arm based on inflatable structure,” CIRP Ann. Manuf. Technol. 44(1), 87–90 (1995).CrossRefGoogle Scholar
Sanan, S., Moidel, J. B. and Atkeson, C. G., “Robots with Inflatable Links,” IEEE/RSJ International Conference on Intelligent Robots and Systems (2009), pp. 4331–4336.Google Scholar
Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M. J., “Braided Pneumatic Actuator Control of a Multi-jointed Manipulator,” International Conference on Systems, Man and Cybernetics, vol. 1 (1993) pp. 423–428.CrossRefGoogle Scholar
Hosoda, K., Takuma, T., Nakamoto, A. and Hayashi, S., “Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion,” Rob. Auton. Syst. 56(1), 46–53 (2008).CrossRefGoogle Scholar
Pratt, G. A. and Williamson, M. M., “Series Elastic Actuators,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1 (1995) pp. 399–406.Google Scholar
Rethink Robotics Baxter website: http://www.rethinkrobotics.com/baxter/.Google Scholar
Asada, H. and Youcef-Toumi, K., “Analysis and Design of Semi-Direct-Drive Robot Arms,” American Control Conference (1983).Google Scholar
Asada, H. and Youcef-Toumi, K., “Analysis and design of a direct-drive arm with a five-bar-link parallel drive mechanism,” J. Dyn. Syst. Meas. Control 106, 225–230 (1984).CrossRefGoogle Scholar
Ogane, D., Hyodo, K. and Kobayashi, H., “Mechanism and control of a 7 D.O.F. tendon-driven robotic arm with NST,” J. Rob. Soc. Jpn. 14(8), 1152–1159 (1996). (In Japanese).CrossRefGoogle Scholar
Rooks, B., “The harmonious robot,” Ind. Rob. Int. J. Rob. Res. Appl. 33(2), 125–130 (2006).CrossRefGoogle Scholar
Barrett Technology, LLC. http://www.barrett.com/products-arm.htm.Google Scholar
3D Systems, Inc. http://www.geomagic.com/en/products/phantom-premium/overview.Google Scholar
Quigley, M., Asbeck, A. and Ng, A., “A low-cost compliant 7-DOF robotic manipulator,” IEEE International Conference on Robotics and Automation (2011) pp. 6051–6058.CrossRefGoogle Scholar
Tsumaki, Y., Shimanuki, S., Ono, F. and Han, H., “Ultra-Lightweight Forearm with a Parallel-Wire Mechanism,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2014) pp. 1419–1423.CrossRefGoogle Scholar
Kim, Y. J., “Design of Low Inertia Manipulator with High Stiness and Strength Using Tension Amplifying Mechanisms,” IEEE/RSJ International Conference on Intelligent Robots and Systems (2015) pp. 5850–5856.Google Scholar
Ulrich, N. and Kumar, V., “Passive Mechanical Gravity Compensation For Robot Manipulators,” IEEE International Conference on Robotics and Automation (1991) pp. 1536–1541.Google Scholar
Hirose, S., Ishii, T. and Haishi, A., “Float Arm V: Hyper-Redundant Manipulator With Wire-Driven Weght-Compensation Mechanism,” IEEE International Conference on Robotics and Automation (2003) pp. 368–373.Google Scholar
Morita, T., Kuribara, F., Shiozawa, Y. and Sugano, S., “A Novel Mechanism Design for Gravity Compensation in Three Dimensional Space,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2003) pp. 163–168.Google Scholar
Fattah, A. and Agrawal, S. K., “Gravity-Balancing of Classes of Industrial Robots,” IEEE International Conference on Robotics and Automation (2006) pp. 2872–2877.Google Scholar
Naoyuki, T., Takashi, I., Hideyuki, M. and Hideo, F., “Design and prototype of Variable Gravity Compensation Mechanism (VGCM),” J. Rob. Mechatron. 23(2), 249–257 (2011).Google Scholar
Lee, D. G. and Seo, T. W., “Lightweight Multi-DOF Manipulator with Wire-Driven Gravity Compensation Mechanism,” IEEE/ASME Trans. Mechatron. 22(3), 1308–1314 (2017).CrossRefGoogle Scholar
Nakamoto, H. and Matsuhira, N., “Development of an Arm for Collaborative Robot Equipped with Gravity Compensation Mechanism According to Payload,” IEEE International Conference on Advanced Intelligent Mechatronics (2017).Google Scholar
Jacobsen, S. C., Iversen, E. K., Knutti, D. F., Johnson, R. T. and Biggers, K. B., “Design of the Utah/Mit Dexterous Hand,” IEEE International Conference on Robotics and Automation (1996) pp. 1520–1532.Google Scholar
Ogahara, Y., Kawato, Y., Takemura, K. and Maeno, T., “A Wire-Driven Miniature Five Fingered Robot Hand Using Elastic Elements as Joints,” IEEE/RSJ International Conference on Intelligent Robots and Systems (2003) pp. 2672–2677.Google Scholar
Kurita, Y., Onoo, Y., Ikedao, A. and Ogasawara, T., “NAIST Hand 2: Human-Sized Anthropomorphic Robot Hand with Detachable Mechanism at the Wrist,” IEEE/RSJ International Conference on Intelligent Robots and Systems (2009) pp. 2271–2276.Google Scholar
Salisbury, J. K. and Craig, J. J., “Articulated hands: Force control and kinematic issues,” Int. J. Rob. Res. 1(1), 4–17 (1982).CrossRefGoogle Scholar
Yoshikawa, T., “Manipulability of robotic mechanisms,” Int. J. Rob. Res. 4(2), 3–9 (1985).CrossRefGoogle Scholar
Dyneema website: https://www.dsm.com/products/dyneema/en_GB/home.html.Google Scholar
TEUFELBERGER Fiber Rope Corporation website: https://www.neropes.com/products/performance/products/detail/Product/hsr-75/.Google Scholar
VR system VIVE website: https://www.vive.com/jp/.Google Scholar

Uemura et al. supplementary material

Uemura et al. supplementary material 1

Download Uemura et al. supplementary material(Video)
Video 28.5 MB