Load bearing, compliant manipulator using non-linear frictional elements

Richard J Wakeling-Gentle; Andrew T Conn

doi:10.1109/AIM52237.2022.9863256

Load bearing, compliant manipulator using non-linear frictional elements

Richard J Wakeling-Gentle, Andrew T Conn

Bristol Doctoral College

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

168 Downloads (Pure)

Abstract

Tendon driven continuum manipulators have advantages such as being able to deform around and through their environment, but this typically comes at the cost of reduced precision and load bearing capabilities. This paper presents a strong, compliant manipulator system using a rigid-link tendon driven manipulator controlled by a novel compliant drive mechanism. Numerical simulations show that this new manipulator can help to address the stiffness/compliance trade-off by exploiting a compliant drive and a stiff manipulator at the same time. A proof-of-principle real-world prototype demonstrates how the manipulator's compliance enables conformation to the shape of a soft and compressible object while its stiffness can support an object more than 15 times its own weight.

Original language	English
Title of host publication	2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	125-131
Number of pages	7
ISBN (Electronic)	9781665413084
ISBN (Print)	9781665413091
DOIs	https://doi.org/10.1109/AIM52237.2022.9863256
Publication status	Published - 25 Aug 2022
Event	2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Advanced Intelligent Mechatronics for Social Good in the New Normal Era - Royton Sapporo, Sapporo, Japan Duration: 11 Jul 2022 → 15 Jul 2022 https://www.aim2022.org

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Publisher	IEEE
Volume	2022-July
ISSN (Print)	2159-6247
ISSN (Electronic)	2159-6255

Conference

Conference	2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Abbreviated title	AIM 2022
Country/Territory	Japan
City	Sapporo
Period	11/07/22 → 15/07/22
Internet address	https://www.aim2022.org

Bibliographical note

Funding Information:
This work was partially funded by EPSRC grants EP/L015293/1 and EP/R02961X/1. 1Richard Wakeling-Gentle is with the CDT at the Bristol Robotics Lab, [email protected] 2Andrew T. Conn is with the Department of Mechanical Engineering, University of Bristol, Bristol, UK and with Bristol Robotics Lab, Bristol, UK [email protected]

Publisher Copyright:
© 2022 IEEE.

Keywords

Flexble Manipulators and Structures
Actuators in Mechatronic Systems
Modeling and Design of Mechatronic Systems
Variable Compliance

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10.1109/AIM52237.2022.9863256

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Accepted author manuscript, 5.6 MBLicence: Unspecified

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Wakeling-Gentle, R. J., & Conn, A. T. (2022). Load bearing, compliant manipulator using non-linear frictional elements. In 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022 (pp. 125-131). (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2022-July). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/AIM52237.2022.9863256

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abstract = "Tendon driven continuum manipulators have advantages such as being able to deform around and through their environment, but this typically comes at the cost of reduced precision and load bearing capabilities. This paper presents a strong, compliant manipulator system using a rigid-link tendon driven manipulator controlled by a novel compliant drive mechanism. Numerical simulations show that this new manipulator can help to address the stiffness/compliance trade-off by exploiting a compliant drive and a stiff manipulator at the same time. A proof-of-principle real-world prototype demonstrates how the manipulator's compliance enables conformation to the shape of a soft and compressible object while its stiffness can support an object more than 15 times its own weight.",

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Wakeling-Gentle, RJ & Conn, AT 2022, Load bearing, compliant manipulator using non-linear frictional elements. in 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2022-July, Institute of Electrical and Electronics Engineers (IEEE), pp. 125-131, 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sapporo, Japan, 11/07/22. https://doi.org/10.1109/AIM52237.2022.9863256

Load bearing, compliant manipulator using non-linear frictional elements. / Wakeling-Gentle, Richard J; Conn, Andrew T.
2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers (IEEE), 2022. p. 125-131 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2022-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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AU - Wakeling-Gentle, Richard J

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N1 - Funding Information: This work was partially funded by EPSRC grants EP/L015293/1 and EP/R02961X/1. 1Richard Wakeling-Gentle is with the CDT at the Bristol Robotics Lab, [email protected] 2Andrew T. Conn is with the Department of Mechanical Engineering, University of Bristol, Bristol, UK and with Bristol Robotics Lab, Bristol, UK [email protected] Publisher Copyright: © 2022 IEEE.

PY - 2022/8/25

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N2 - Tendon driven continuum manipulators have advantages such as being able to deform around and through their environment, but this typically comes at the cost of reduced precision and load bearing capabilities. This paper presents a strong, compliant manipulator system using a rigid-link tendon driven manipulator controlled by a novel compliant drive mechanism. Numerical simulations show that this new manipulator can help to address the stiffness/compliance trade-off by exploiting a compliant drive and a stiff manipulator at the same time. A proof-of-principle real-world prototype demonstrates how the manipulator's compliance enables conformation to the shape of a soft and compressible object while its stiffness can support an object more than 15 times its own weight.

AB - Tendon driven continuum manipulators have advantages such as being able to deform around and through their environment, but this typically comes at the cost of reduced precision and load bearing capabilities. This paper presents a strong, compliant manipulator system using a rigid-link tendon driven manipulator controlled by a novel compliant drive mechanism. Numerical simulations show that this new manipulator can help to address the stiffness/compliance trade-off by exploiting a compliant drive and a stiff manipulator at the same time. A proof-of-principle real-world prototype demonstrates how the manipulator's compliance enables conformation to the shape of a soft and compressible object while its stiffness can support an object more than 15 times its own weight.

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ER -

Wakeling-Gentle RJ, Conn AT. Load bearing, compliant manipulator using non-linear frictional elements. In 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers (IEEE). 2022. p. 125-131. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM52237.2022.9863256

Load bearing, compliant manipulator using non-linear frictional elements

Abstract

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Bibliographical note

Keywords

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