학술논문
Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles
Document Type
Periodical
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(7):4203-4210 Jul, 2023
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
Robot mechanisms that exploit compliance can perform complex tasks under uncertainty using simple control strategies, but it remains difficult to design mechanisms with a desired embodied intelligence. In this article, we propose an automated design technique that optimizes the desired load-displacement behavior of planar flexible-link mechanisms. To do so, we replace a subset of rigid with flexible links in an existing mechanism, and optimize their rest shape. We demonstrate the efficacy of our approach on a set of examples, including two fabricated prototypes, illustrating applications for grasping and locomotion tasks.