Design of adjustable compliant mechanism for service robot

Husam Kareem Mohsin Al-Jothery, Khairul Salleh Mohamed Sahari

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic technology has become more interested field to safely interact with the human. Therefore, there is a need to continuously improve the mathematical models and flexibility of robot arm when subjected to a collision force in order to reduce environmental impact, but maintain very high stiffness otherwise. To implement these requirements, adjustable compliant mechanism (ACM), which consists of flat plate spring (FPS), two thin disks, ball bearing and stepper motor, is proposed in this research. The ACM has advantages of variable stiffness which can be achieved only by passive mechanical elements. The theoretical relation between spring stiffness and rotational angle was derived for rectangular cross section. Comparison was made between three types of materials used for FPS which were AISI Steel 4340, Brass and Aluminum 6061 T6. The steel spring exhibited the best flexibility and good rigidity as well. Several of impact forces showed the variable stiffness of the FPS, but an abrupt drops in the stiffness when rotational angle was 90° under various impact forces. Furthermore, the stiffness and impact force can be set to any value depending on the application.

Original languageEnglish
Title of host publication2015 International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages104-109
Number of pages6
ISBN (Electronic)9781509002788
DOIs
Publication statusPublished - 12 Jan 2016
Event1st International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015 - Putrajaya, Malaysia
Duration: 18 Aug 201519 Aug 2015

Publication series

Name2015 International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015

Other

Other1st International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015
CountryMalaysia
CityPutrajaya
Period18/08/1519/08/15

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All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Artificial Intelligence
  • Decision Sciences (miscellaneous)

Cite this

Al-Jothery, H. K. M., & Sahari, K. S. M. (2016). Design of adjustable compliant mechanism for service robot. In 2015 International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015 (pp. 104-109). [7379779] (2015 International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISAMSR.2015.7379779