Adjustable compliant robotic wrist using an electro-rheological

Details Adjustable compliant robotic wrist using an electro-rheological Adjustable compliant robotic wrist using an electro-rheological

1991-02-04

1992-06-30

Kundrat, Andrew V.

Joints and connections

Structurally installed in diverse art device

403404, 403291, 403220, 403 5, F16D 100

Patent

active

051257599

ABSTRACT:
A robotic wrist employs a plurality of elastomeric containers holding an electro-rheological fluid. An electromagnetic field can be selectively applied across the electro-rheological fluid within these elastomeric containers to selectively control the viscosity of the electro-rheological fluid and thereby control the stiffness of the elastomeric containers. Two sets of elastomeric containers can be used to control both the axial and radial stiffnesses of the wrist. In the preferred embodiment, the elastomeric containers have a hollow spherical shape. An electromagnetic field is created within the containers by applying a voltage between a conductive film on the interior surface of the sphere and second electrode extending through the sphere into the electro-rheological fluid.

REFERENCES:
patent: 2883131 (1959-04-01), McNally
patent: 3503273 (1970-03-01), Haaker et al.
patent: 3638973 (1972-02-01), Poletti
patent: 3904042 (1975-09-01), Colston
patent: 4433953 (1984-02-01), Muench
Cutkosky and Wright, "Position Sensing Wrists for Industrial Manipulators" (Robotics Institute, Carnegie-Mellon University, Jul. 1982).
Cutkosky and Wright, "Active Control of a Compliant Wrist in Manufacturing Tasks", Transactions of the ASME, vol. 108, pp. 36-43 (Feb. 1986).
"Electro-Rheological Fluids", information brochure distributed by American Cyanamid Company, Wayne, N.J.
Duclos, et al., "Fluids That Thicken Electrically", Machine Design (Jan. 21, 1988).

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