Publication:
Design of adjustable compliant mechanism for service robot

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dc.citedby1
dc.contributor.authorAl-Jothery H.K.M.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorid57189092065en_US
dc.contributor.authorid57218170038en_US
dc.date.accessioned2023-05-29T06:12:59Z
dc.date.available2023-05-29T06:12:59Z
dc.date.issued2016
dc.descriptionBall bearings; Compliant mechanisms; Environmental impact; Machine design; Mechanisms; Robotics; Robots; Stepping motors; Stiffness; Adjustable mechanisms; Flat plate; Mechanical compliance; Mechanical elements; Planar robots; Rectangular cross-sections; Robotic technologies; Variable stiffness; Multi agent systemsen_US
dc.description.abstractRobotic technology has become more interested field to safely interact with the human. Therefore, there is a need to continuously improve the mathematical models and flexibility of robot arm when subjected to a collision force in order to reduce environmental impact, but maintain very high stiffness otherwise. To implement these requirements, adjustable compliant mechanism (ACM), which consists of flat plate spring (FPS), two thin disks, ball bearing and stepper motor, is proposed in this research. The ACM has advantages of variable stiffness which can be achieved only by passive mechanical elements. The theoretical relation between spring stiffness and rotational angle was derived for rectangular cross section. Comparison was made between three types of materials used for FPS which were AISI Steel 4340, Brass and Aluminum 6061 T6. The steel spring exhibited the best flexibility and good rigidity as well. Several of impact forces showed the variable stiffness of the FPS, but an abrupt drops in the stiffness when rotational angle was 90� under various impact forces. Furthermore, the stiffness and impact force can be set to any value depending on the application. � 2015 IEEE.en_US
dc.description.natureFinalen_US
dc.identifier.ArtNo7379779
dc.identifier.doi10.1109/ISAMSR.2015.7379779
dc.identifier.epage109
dc.identifier.scopus2-s2.0-84965106028
dc.identifier.spage104
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84965106028&doi=10.1109%2fISAMSR.2015.7379779&partnerID=40&md5=753beca043f43188099e397ec866b9a4
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/22878
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.sourceScopus
dc.sourcetitle2015 International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015
dc.titleDesign of adjustable compliant mechanism for service roboten_US
dc.typeConference Paperen_US
dspace.entity.typePublication
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