-- BalajiSanthana - 23 Nov 2010

Distal joint for the Adept created. - The joint incorporates a JR3 force sensor and an arm that allows torsion springs of varying stiffnesses to be included. - The first version of this joint uses plywood plates, which contributes to a small amount of play. Based on initial tests, the next version will be made of aluminum. The arm itself is an aluminum plate. - The shaft that acts as the joint being investigated is made of steel, and is has bearings on both ends. An encoder will be incorporated into this design to measure arm deflection.

-- BalajiSanthana - 12 Nov 2010

1 Additional specification added. It is desired for the joint itself to have an encoder wheel or potentiometer in order to record the deflection of the arm throughout the collision event. Encoders can be found in lab. they are paired with encoder wheels designed to take a 6 mm shaft.

1. A JR3 sensor is to be added proximal to the variable stiffness joint. calculations need to be made in order to ensure that the sensor is not overstressed.
2. An interesting design by Jason Wheeler was noted as perhaps being a source for inspiration on how the joint is to be designed.

-- SamsonPhan - 02 Oct 2010