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@article{Perera:2025:10.1038/s41598-025-13055-7,
author = {Perera, S and Bornassi, S and Ghajari, M and Nanayakkara, T},
doi = {10.1038/s41598-025-13055-7},
journal = {Scientific Reports},
title = {Joints with angle dependent damping can help to reduce impact forces in robots},
url = {http://dx.doi.org/10.1038/s41598-025-13055-7},
volume = {15},
year = {2025}
}
TY - JOUR
AB - 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× during a 10× 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.
AU - Perera,S
AU - Bornassi,S
AU - Ghajari,M
AU - Nanayakkara,T
DO - 10.1038/s41598-025-13055-7
PY - 2025///
SN - 2045-2322
TI - Joints with angle dependent damping can help to reduce impact forces in robots
T2 - Scientific Reports
UR - http://dx.doi.org/10.1038/s41598-025-13055-7
UR - https://www.nature.com/articles/s41598-025-13055-7
VL - 15
ER -