Investigating the Potential of Flexible Links for Increased Payload to Mass Ratios for Collaborative Robotics

One of the main restrictions commercial cobots can be found in their limited payload to mass ratios. Flexible link manipulators seem offer interesting advantages over traditional rigid robotics, terms lower self-weight, energy consumption and safer operation. However, design loading specifications general literature on flexible differ from those expected a collaborative industrial setting. In this paper, we want investigate whether use links truly beneficial for robotics. Firstly, theoretical potential increase ratio is investigated. The feasibility cylindrical specific, realistic conditions investigated, effect flexibility demanded motor torque maximum reachable visualised, while considering links. Subsequently, get insights accuracy usability such manipulator, experimentally quantify what extent undesired side effects counteracted using an appropriate controller. To comply with envisioned application control strategy based strain measurements along robust changes proposed. obtained was measured by tracking end effector position Vicon motion capture system, two types single designs; firstly, very setup rectangular cross section, secondly, link, loaded reach 1.