SYSTEM AND METHOD FOR DESIGNING ROBOT MECHANISMS WITH FLEXIBLE LINKS
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United States of America Patent
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Issued Date -
Jul 11, 2024
app pub date -
Jan 5, 2023
filing date -
Jan 5, 2023
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Abstract
An automated design method, and corresponding computer system for implementing such a method and robot mechanism with an optimized flexible link, that is configured to optimize a desired load-displacement behavior of planar flexible-link mechanisms at expected points of interaction. To implement the new design method, a subset of rigid links of an existing rigid-link robot mechanism are replaced with flexible links, optimizing their rest configurations. The efficacy of the design approach has been proven with two fabricated prototypes of robot mechanisms, with one being adapted for grasping tasks and one being adapted for locomotion tasks.
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