Design of a re-configurable test stand for a multi degree of freedom compliant robot prototype

[摘要] A test stand was designed and constructed to compress a compliant robot prototype, while measuring the force applied and the displacement of the prototype;;s end. The prototype is a five degree of freedom, compliant device, which required the design process to preserve these DOF while measuring the force and displacement. To reduce the restriction on the robot;;s DOF, the final design utilizes a stepper motor and a counterweighted pulley system to apply a compressive force through a single monofilament line. The test stand can accommodate prototypes up to 25 cm in length, and can apply a compressive force up to 6.5N with a resolution of ±0.04N. The displacement can be measured accurately to ±0.064cm.

[发布机构] Massachusetts Institute of Technology