CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
Series elastic driving device for robot joint
Authors
林光模
赵忆文
赵新刚
韩建达
Publication date
17 May 2017
Publisher
Abstract
本发明涉及一种用于机器人关节的串联弹性驱动器及其控制方法,包括电机控制器连接旋转编码器,电机控制器连接直流电机;电机控制器连接实时计算机控制系统;数据采集系统的输出端连接实时计算机控制系统,输入端连接模拟多路选择器;旋转编码器、直流电机和减速箱依次连接;换向器的输入端连接减速箱,输出端的输出轴线上设置由依次固定连接的弹性元件、弹簧连杆转接件和机器人关节连杆组成的传动机构;第一绝对角度传感器同轴设置于弹性元件上;第二绝对角度传感器设置于所述机器人关节连杆。本发明可应用于需要与人或环境产生直接物理接触的机器人的关节驱动,可以保证人与环境以及机器人自身的安全性和人机接触时的舒适性
Similar works
Full text
Available Versions
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/26707
Last time updated on 16/09/2020
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/20405
Last time updated on 12/08/2017
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/20405
Last time updated on 12/02/2018