Joints with angle dependent damping can help to reduce impact forces in robots
Abstract This paper investigates how a new angle-dependent damper design can help a robot to reduce collision forces. We designed a fluid-viscous angle-dependent damper by smoothly changing the clearance between the stationary and moving parts. Analytical and numerical simulation-based predictions w...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2025-08-01
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| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-025-13055-7 |
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| Summary: | Abstract This paper investigates how a new angle-dependent damper design can help a robot to reduce collision forces. We designed a fluid-viscous angle-dependent damper by smoothly changing the clearance between the stationary and moving parts. Analytical and numerical simulation-based predictions were experimentally tested. Analytical modelling shows that angle-dependent damping has a $$48\%$$ reduction in peak forces when compared to constant damping. Numerical simulations show that variable-gap dampers can change damping by $$134 \times$$ during a $$10 \times$$ gap change. The experimental findings confirm the analytical predictions by reducing collision force by up to $$10\%$$ . These findings suggest that the angle-dependent variable damping solution could be used for robots that experience collisions such as industrial robotic manipulators, legged robots, perching robots, or robots that catch moving objects. |
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| ISSN: | 2045-2322 |