Adjustable compliant robotic wrist using an electro-rheological fluid

摘要

A robotic wrist employs a plurality of elastomeric containers holding an electro-rheological fluid. An electromagnetic field can be selectively applied across the electro-rheological fluid within these elastomeric containers to selectively control the viscosity of the electro- rheological fluid and thereby control the stiffness of the elastomeric containers. Two sets of elastomeric containers can be used to control both the axial and radial stiffnesses of the wrist. In the preferred embodiment, the elastomeric containers have a hollow spherical shape. An electromagnetic field is created within the containers by applying a voltage between a conductive film on the interior surface of the sphere and second electrode extending through the sphere into the electro- rheological fluid.