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A New Variable Stiffness Series Elastic Actuator for the Next Generation Collaborative Robot

Abstract Details

2020, Doctor of Philosophy (Ph.D.), University of Dayton, Electrical and Computer Engineering.
Over the past decades industrial robot manipulators have expanded throughout the automation landscape with their high degree of repeatability and accuracy. For safety reasons these robots are not allowed to share their workspace along with humans, which limits the study of various tasks that can be performed by a human-robot collaboration. To circumvent this limitation, a new kind of variable stiffness series elastic actuator (or vSEA) is proposed as a joint actuator. This vSEA has an ability to servo-control its joint stiffness, and provide a measure of the instantaneous joint torque. These unique abilities play a crucial role in an intelligent robot control design that can scale down the risk factors in a field where humans and robots collaborate. The intrinsic soft joint in vSEA provides a higher bandwidth of compliance to better mitigate the effects of collision. This article dissects the use of the vSEA joint in a planar RR robot manipulator, and its potential use in a human-robot collaborative workspace.
Raúl Ordóñez (Committee Chair)
Vijayan Asari (Committee Member)
John Loomis (Committee Member)
David Myzska (Committee Member)
George Sutton (Advisor)
65 p.

Recommended Citations

Citations

  • Sharma, M. K. (2020). A New Variable Stiffness Series Elastic Actuator for the Next Generation Collaborative Robot [Doctoral dissertation, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589820204862466

    APA Style (7th edition)

  • Sharma, Manoj Kumar . A New Variable Stiffness Series Elastic Actuator for the Next Generation Collaborative Robot. 2020. University of Dayton, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589820204862466.

    MLA Style (8th edition)

  • Sharma, Manoj Kumar . "A New Variable Stiffness Series Elastic Actuator for the Next Generation Collaborative Robot." Doctoral dissertation, University of Dayton, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589820204862466

    Chicago Manual of Style (17th edition)