Robot Modular Joint is an actuated mechanism
abstract:Robot modular joint is an actuated mechanism that enables a series of modules to form a complex robo...
Robot modular joint is an actuated mechanism that enables a series of modules to form a complex robotic morphology. It can perform a variety of functions and provide multiple degrees-of-freedom (DoF) to actuate the structure. It is an important design element in chain architectures [6, 7] that enable modular morphologies to move in different terrains or manipulate different objects.
This paper presents a new heterogeneous modular system that enables easy construction of a variety of robot configurations using simple and low-cost modules. The system consists of a thin body, track drive unit, docking mechanism and joint actuation mechanism. It also includes electronic hardware for sensor information processing and high-speed serial communications.The design of the module is simplified by the use of standard components and customized components (brushless DC motor, magnetic encoders, torsional spring). It also features an integrated fail-safe brake to protect the actuation system from power failures.Moreover, the designed elastic joint has a light-weight and small volume compared to previous SEA designs. It is a good choice for a modular robotic manipulator with multi-DOF and a large range of motion.A DOb-based RRC is proposed to suppress vibration of the designed modular joint by adjusting the ratio between resonant and anti-resonant frequencies based on the feedback of nominal spring torsion. The effectiveness of this control strategy is demonstrated in simulation and experimental results.