Abstract
This paper proposes a force-controlled end-effector with slender flexible beams. On the one hand, it can actively control the deformation of slender flexible beams to output a constant force at the end-effector without using a force sensor. On the other hand, it serves as a passive compliant mechanism utilizing the large deformation characteristic of slender flexible beams to prevent structural damage. The kinetostatic modeling of the force-controlled end-effector has been derived to obtain the relationship between the output force and displacement. To conduct experimental tests, a prototype of the force-controlled end-effector has been fabricated. From the experimental results, it can be seen that the error of the force-controlled end-effector is within 0.5N.
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Acknowledgement
This research work was supported in part by the Natural Science Foundation of China (NSFC) under the Grants 52022056, and Zhejiang Lab Open Research Project (No. K2022NB0AB03).
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Chen, Y., Chen, G., Chai, Y., Wang, H., Kong, L. (2023). Design of a Force-Controlled End-Effector with Slender Flexible Beams. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_46
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DOI: https://doi.org/10.1007/978-981-99-6501-4_46
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