Stiffness characteristics and kinematics analysis of two-link elastic underactuated manipulators

This article investigates the stiffness characteristics of two-link underactuated manipulators, examines the effect on the torque resulting in the passive joint, and develops a stiffness model in analysing the behaviors of the manipulators. The kinematic analysis leads to the trajectory of the end-effector, which is associated with the stiffness coupled between the active and passive joints and with the constraint forces, and the kinematic coupling is shown in the angular displacement and in the resulting torque. The stiffness characteristics are illustrated in the directional stiffness mapping, which gives a quantitative measure of stiffness with respect to displacement direction. © 2002 Wiley Periodicals, Inc.

[1]  L. Menini,et al.  Modelling and control of an under-actuated closed kinematic chain , 1998 .

[2]  Mark W. Spong,et al.  The swing up control problem for the Acrobot , 1995 .

[3]  D. John Sanger,et al.  Geometric modelling of bounded and frictional grasps , 1993, Robotica.

[4]  Susumu Tachi,et al.  Position control of manipulator with passive joints using dynamic coupling , 1991, IEEE Trans. Robotics Autom..

[5]  Naoji Shiroma,et al.  Nonholonomic control of a three-DOF planar underactuated manipulator , 1998, IEEE Trans. Robotics Autom..

[6]  Shuguang Huang,et al.  The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel , 1998, IEEE Trans. Robotics Autom..

[7]  Yoshihiko Nakamura,et al.  Chaos and nonlinear control of a nonholonomic free-joint manipulator , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[8]  Clément Gosselin,et al.  Simulation and design of underactuated mechanical hands , 1998 .

[9]  Joseph Duffy,et al.  Global stiffness modeling of a class of simple compliant couplings , 1993 .

[10]  Susumu Tachi,et al.  Dynamic control of a manipulator with passive joints in operational space , 1993, IEEE Trans. Robotics Autom..

[11]  Yunhui Liu,et al.  Cooperation control of multiple manipulators with passive joints , 1999, IEEE Trans. Robotics Autom..

[12]  Fumihito Arai,et al.  Swing and locomotion control for a two-link brachiation robot , 1994 .

[13]  Jian S. Dai,et al.  A six-component contact force measurement device based on the Stewart platform , 2000 .

[14]  Clément Gosselin,et al.  Stiffness mapping for parallel manipulators , 1990, IEEE Trans. Robotics Autom..

[15]  James K. Mills.  Stability and control of elastic-joint robotic manipulators during constrained-motion tasks , 1992, IEEE Trans. Robotics Autom..

[16]  Yangsheng Xu,et al.  Robust control of underactuated manipulators: analysis and implementation , 1994, Proceedings of IEEE International Conference on Systems, Man and Cybernetics.

[17]  F. Park,et al.  Manipulability of Closed Kinematic Chains , 1998 .

[18]  Jian S. Dai,et al.  Fine motion control based on constraint criteria under pre-loading configurations , 2000 .

[19]  S J Zhang,et al.  A general method for the stiffness analysis of manipulator mechanisms , 2000 .

[20]  Abhinandan Jain,et al.  An analysis of the kinematics and dynamics of underactuated manipulators , 1993, IEEE Trans. Robotics Autom..

[21]  Jian S. Dai,et al.  Analysis of Force Distribution in Grasps Using Augmentation , 1996 .

[22]  Ju-Jang Lee,et al.  Dynamics and robust control of underactuated manipulators , 1998, Proceedings of the 37th SICE Annual Conference. International Session Papers.

[23]  D. R. Kerr,et al.  Finite Twist Mapping and its Application to Planar Serial Manipulators with Revolute Joints , 1995 .

[24]  Shuguang Huang,et al.  The bounds and realization of spatial compliances achieved with simple serial elastic mechanisms , 2000, IEEE Trans. Robotics Autom..