Design of low inertia manipulator with high stiffness and strength using tension amplifying mechanisms

@article{Kim2015DesignOL,
  title={Design of low inertia manipulator with high stiffness and strength using tension amplifying mechanisms},
  author={Yong-Jae Kim},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={5850-5856}
}
This paper presents a novel manipulator for human-robot interaction that has low mass and inertia without losing stiffness and payload performance. A lightweight tension amplifying mechanism that increases the joint stiffness in quadratic order is proposed. High stiffness is essential for precise and rapid manipulation, and low mass and inertia are important factors for safety due to low stored kinetic energy. The proposed tension amplifying mechanism was applied to a 1-DOF elbow joint and then… CONTINUE READING

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