After a brief reminder about advantages and problems related to the application of large displacement elastic joints in robotic structures, this paper outlines an approach for quantifying the joint’s performance in terms of selective compliance (i.e. capability of providing low stiffness along a single desired direction). Local and global performance indexes are proposed which can be used to discern which joint best suits the application requirements. The approach is validated by comparing two beam-like flexures and two novel compliant joints with non trivial morphology.

Comparative Evaluation of the Selective Compliance in Elastic Joints for Robotic Structures / Berselli, Giovanni; M., Piccinini; G., Vassura. - ELETTRONICO. - (2011), pp. 4626-4631. (Intervento presentato al convegno 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 tenutosi a Shanghai, chn nel 9-13 Maggio 2011) [10.1109/ICRA.2011.5980201].

Comparative Evaluation of the Selective Compliance in Elastic Joints for Robotic Structures

BERSELLI, Giovanni;
2011

Abstract

After a brief reminder about advantages and problems related to the application of large displacement elastic joints in robotic structures, this paper outlines an approach for quantifying the joint’s performance in terms of selective compliance (i.e. capability of providing low stiffness along a single desired direction). Local and global performance indexes are proposed which can be used to discern which joint best suits the application requirements. The approach is validated by comparing two beam-like flexures and two novel compliant joints with non trivial morphology.
2011
2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Shanghai, chn
9-13 Maggio 2011
4626
4631
Berselli, Giovanni; M., Piccinini; G., Vassura
Comparative Evaluation of the Selective Compliance in Elastic Joints for Robotic Structures / Berselli, Giovanni; M., Piccinini; G., Vassura. - ELETTRONICO. - (2011), pp. 4626-4631. (Intervento presentato al convegno 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 tenutosi a Shanghai, chn nel 9-13 Maggio 2011) [10.1109/ICRA.2011.5980201].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/853338
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 31
  • ???jsp.display-item.citation.isi??? 10
social impact