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A multiple working mode approach to robotic hammering: Analysis and experiments

Published online by Cambridge University Press:  10 June 2021

Vladyslav Romanyuk ,
Sina Soleymanpour  and
Guangjun Liu Open the ORCID record for Guangjun Liu [Opens in a new window]
Vladyslav Romanyuk
Affiliation:
Department of Aerospace Engineering, Ryerson University, 350 Victoria St., Toronto, Ontario, Canada
Sina Soleymanpour
Affiliation:
Department of Aerospace Engineering, Ryerson University, 350 Victoria St., Toronto, Ontario, Canada
Guangjun Liu*
Affiliation:
Department of Aerospace Engineering, Ryerson University, 350 Victoria St., Toronto, Ontario, Canada
*
*Corresponding author. Email: gjliu@ryerson.ca
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Abstract

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A robot arm may be in need for performing various operations, especially for service robots and space robots. This paper presents a strategy that allows a modular and reconfigurable robot to safely perform nail hammering without hardware enhancements. The purpose is to equip a versatile robot arm with hammering capability that can be used if needed. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses and serve as criteria for mode switching. Advantages of the proposed approach include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study has validated analytic models of hammering and demonstrated the effectiveness of the proposed approach.

Keywords

Robotic hammeringMultiple working mode controlModular reconfigurable robotImpulse model

Information

Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 570 - 582
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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