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  4. A Compliant and Precise Pneumatic Rotary Drive Using Pneumatic Artificial Muscles in a Swash Plate Design
 
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2019
Conference Paper
Title

A Compliant and Precise Pneumatic Rotary Drive Using Pneumatic Artificial Muscles in a Swash Plate Design

Abstract
Compliant and precise rotary drive units are essential for the design of articulated robots that are capable of safe human-robot collaboration. In this paper, we present a new pneumatic rotary drive unit that combines the compliance of pneumatic systems with the ability to perform high precision positioning. We use pneumatic artificial muscles (PAMs) pulling on a swash plate to avoid the stick-slip phenomenon and to realize adjustable stiffness. Furthermore, the presented drive unit can operate in 360 continuous rotation. These properties make the drive particularly suitable for the later use in humanrobot collaboration. We explain the mechanic design as well as the pneumatic and electric control system that we use to operate the drive unit. We derive the equations to calculate the static torque distribution and compare the theoretical results to the data measured on the realized laboratory test stand, depicted in figure 1. The accuracy of the used 16-bit encoder is achieved and adjustable stiffness is realized and measured on the laboratory test stand. The measurements of the reaction to a step response are discussed based on a first and basic control strategy.
Author(s)
Stoll, Johannes  
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Schanz, Kevin
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Pott, Andreas
Universität Stuttgart ISW
Mainwork
IEEE International Conference on Robotics and Automation, ICRA 2019  
Conference
International Conference on Robotics and Automation (ICRA) 2019  
Open Access
File(s)
Download (3.38 MB)
Rights
Use according to copyright law
DOI
10.24406/publica-r-406287
10.1109/ICRA.2019.8794185
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • künstlicher Muskel

  • Mensch-Roboter-Kooperation (MRK)

  • pneumatischer Antrieb

  • Positioniergenauigkeit

  • Taumelscheibenmotor

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