A six degree-of-freedom wrist with pneumatic suspension

TitleA six degree-of-freedom wrist with pneumatic suspension
Publication TypeConference Paper
Year of Publication1994
AuthorsSalcudean, S. E., S. Bachmann, and D. Ben-Dov
Conference NameRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Pagination2444 -2450 vol.3
Date Publishedmay.
Keywords6-d.o.f. wrist, externally pressurized mechanical bellows, force control, force-reflecting teleoperation master, high position resolution, high-flow flapper valves, pneumatic control equipment, pneumatic fine-motion device, pneumatic suspension, robot wrist, robots, servoing differential pressure, telecontrol equipment, teleoperation master

This paper presents a new six-degree-of-freedom pneumatic fine-motion device that can be used as a robot wrist, a teleoperation master, or in other fine-motion applications requiring high position resolution and force control. The device uses six pairs of externally pressurized mechanical bellows as a pneumatic suspension without actuator friction. Forces and torques are controlled by servoing differential pressure across each pair of bellows using novel high-flow flapper valves. Aspects of design and control are presented. Experimental results show that the valves employed have no hysteresis and have flow exceeding that of any single stage pneumatic valve currently available on the market, while the pneumatic-suspension device shows promise as a force-reflecting teleoperation master


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