1,721,200 research outputs found
Easy Integrability and Data Processing of a Soft Tactile Array Sensor Through Reconfiguration
No full textThis work was supported by the SHERO Project, a Future and Emerging Technologies (FET) Program of the European Commission under Grant 828818. The work of Julie Legrand was supported by the Personal FWO under Grant 12Y8622N. The work of Ellen Roels was supported by the Personal FWO under Grant 1S84120N. The associate editor coordinating the review of this article and approving it for publication was Dr. Levent Yobas. (Corresponding author: Julie Legrand.
Overload clutch with integrated torque sensing and decoupling detection for collision tolerant hybrid high-speed industrial cobots
Full text linkA hybrid high-speed industrial collaborative robot can switch between collaborative mode and high-speed mode, combining the advantages of both. While promising, this concept comes with some challenges such as dealing with collisions at high speed. An overload clutch with integrated torque sensing and clutch decoupling detection is presented as enabling technology. Both joint torque sensing and clutch decoupling detection are realized with the same capacitive measurement hardware that consists of paired electrodes. A prototype device is experimentally validated through comparison with a reference torque sensor
Series clutched actuation for collision-tolerant high-speed robots
Full text linkCollisions at high-speed can severely damage robots with non-backdrivable drivetrains. Adding an overload clutch in series can improve the robot’s collision tolerance without compromising its high dynamic performance. This paper aims at determining the speed above which overload clutches are required in a two-link manipulator arm. Furthermore, the optimal clutch topology as function of the impact velocity is investigated. Third, it is evaluated if adding clutches can lower the impact force on the arm. Finally, the maximum speed is identified below which impact-aware robot control is possible. The latter requires that none of the clutches decouple during an intentional collision with the environment. These answers are obtained through collision simulations and experiments with a custom build two-link arm. It was found that adding a clutch reduces the torque experienced
by the drivetrain by an order of magnitude and below the limit momentary peak torque of the strain wave gears that are used. Adding a clutch to the elbow joint of the two-link arm was effective in protecting the shoulder as well if the impact occurred at the tool center point. With respect to a rigid elbow joint, the clutched elbow joint
reduced the collision force at the tool by only 8%. To demonstrate that the arm is impact-aware, a box of 8 kg is approached, impacted, and pushed at 1 m/s without decoupling a clutch, nor damaging the robot’s hardware
Implementation of a Heterogeneous Multi-Robot System for a Construction Task
No full textThis work was funded by NextGenerationEU. Supported by the Brussels Capital Region - Paradigm and Innoviris
A Variable Stiffness Anthropomorphic Finger Through Embodied Intelligence Design
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Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
Full text linkWe would like to thank Lieven Bart Standaert (manager of FabLab Brussels) and Tom Turcksin (manager of AugmentX) for their advice and support with the Antropo project
Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms
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