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Volume 42 Issue 10
Oct.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(10): 2198-2205.
WANG Qingchuan, QUAN Qiquan, DENG Zongquan, et al. Differential planetary gears based underactuated arm for capturing moving target[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2198-2205. doi: 10.13700/j.bh.1001-5965.2015.0660(in Chinese)
Citation: WANG Qingchuan, QUAN Qiquan, DENG Zongquan, et al. Differential planetary gears based underactuated arm for capturing moving target[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2198-2205. doi: 10.13700/j.bh.1001-5965.2015.0660(in Chinese)
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Differential planetary gears based underactuated arm for capturing moving target

doi: 10.13700/j.bh.1001-5965.2015.0660

  • State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Funds:  National Natural Science Foundation of China (61403106); Program of Introducing Talents of Discipline to Universities (B07018); Heilongjiang Postdoctoral Grant (LBH-Z11168); China Postdoctoral Science Foundation (2012M520722);Scientific Research Foundation for the Returned Overseas Chinese Scholars of Ministry of Education of China
  • Received Date: 13 Oct 2015
  • Publish Date: 20 Oct 2016
    Abstract
  • A novel underactuated robotic arm was proposed for moving target capturing, which has the capability of collision energy absorption. The proposed underactuated three-degree-of-freedom robotic arm has base joint, median joint and distal joint, and three joints are driven by two actuators. The base joint is driven by a single motor. The median joint and the distal joint employ a set of one-input-dual-output planetary gears to distribute power. Upon the occurrence of a collision in the process of capturing a moving target, part of the collision energy can be transmitted to the distal joint through the planetary gears as kinetic energy. Even though the time delay exists in the control system, the underactuated joints can also move cooperatively with the collided target through the mechanical passive response. Moreover, the impedance-based control algorithm of the underactuated robotic arm is presented for capturing the target after the collision. Capture experiment for moving target was carried out to confirm desirable characteristics of the proposed arm and feasibility of the control strategy.

     

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