Modelling and application of the self-locking phenomenon in the context of a non-discrete impact clutch |
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| Authors: | Tobias Welge-Luessen Christoph Glocker |
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| Affiliation: | 1. ETH Center, CLA G23.2, CH-8092 Zuerich, Switzerland;2. ETH Center, CLA J23.1, CH-8092 Zuerich, Switzerland |
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| Abstract: | This paper describes an application of the self locking phenomenon in order to realize a non-discrete impact clutch. It is used to generate velocity jumps in an underactuated robot manipulator. Due to control reasons the impacts have to be made possible at arbitrary times, which calls for a non-discrete device. Different design alternatives are listed and a numerical simulation as well as a possible mechanical design of the self-locking mechanism are presented. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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