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Design of compliant robotic joint with embedded‐sensing elements of conductive silicone rubber

Dalibor Petković (Department for Mechatronics, Faculty of Mechanical Engineering, University of Niš, Niš, Serbia)
Mirna Issa (Department of Mechanism Technology, Faculty of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany)
Nenad D. Pavlović (Department for Mechatronics, Faculty of Mechanical Engineering, University of Niš, Niš, Serbia)
Lena Zentner (Department of Mechanism Technology, Faculty of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 March 2013

367

Abstract

Purpose

The purpose of this paper is to propose a new methodological framework within which a compliant robotic joint can be studied.

Design/methodology/approach

A new method is presented for detecting the direction of the robotic joint rotation when subjected to an external collision force.

Findings

The behaviour of the silicone rubber shows strong non‐linearity, therefore, the sensor‐elements cannot be used for accurate measurements.

Originality/value

A new type of safe robotic mechanisms with an internal measuring system is proposed in this paper.

Keywords

Citation

Petković, D., Issa, M., Pavlović, N.D. and Zentner, L. (2013), "Design of compliant robotic joint with embedded‐sensing elements of conductive silicone rubber", Industrial Robot, Vol. 40 No. 2, pp. 143-157. https://doi.org/10.1108/01439911311297748

Publisher

:

Emerald Group Publishing Limited

Copyright © 2013, Emerald Group Publishing Limited

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