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<p>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 <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_13055_Article_IEq1.gif" Format="GIF" Height="16" Rendition="HTML" Resolution="72" Type="Linedraw" Width="31" /> </InlineMediaObject> <EquationSource Format="TEX">\(48\%\)</EquationSource> </InlineEquation> reduction in peak forces when compared to constant damping. Numerical simulations show that variable-gap dampers can change damping by <InlineEquation ID="IEq2"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_13055_Article_IEq2.gif" Format="GIF" Height="14" Rendition="HTML" Resolution="72" Type="Linedraw" Width="41" /> </InlineMediaObject> <EquationSource Format="TEX">\(134 \times\)</EquationSource> </InlineEquation> during a <InlineEquation ID="IEq3"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_13055_Article_IEq3.gif" Format="GIF" Height="14" Rendition="HTML" Resolution="72" Type="Linedraw" Width="33" /> </InlineMediaObject> <EquationSource Format="TEX">\(10 \times\)</EquationSource> </InlineEquation> gap change. The experimental findings confirm the analytical predictions by reducing collision force by up to <InlineEquation ID="IEq4"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_13055_Article_IEq4.gif" Format="GIF" Height="16" Rendition="HTML" Resolution="72" Type="Linedraw" Width="31" /> </InlineMediaObject> <EquationSource Format="TEX">\(10\%\)</EquationSource> </InlineEquation>. 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.</p>

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Joints with angle dependent damping can help to reduce impact forces in robots

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年8月5日

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  • Shehara Perera,
  • Saeed Bornassi,
  • Mazdak Ghajari,
  • Thrishantha Nanayakkara

摘要

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.