Fig. 2
From: Joints with angle dependent damping can help to reduce impact forces in robots
CAD model of the damper and experimental setup. (A-i) Exploded assembly of the damper including the cap, rotor and casing which are connected together using nuts and bolts while the seals are used to stop leakage of the damper oil. The inside volume of the damper is filled with damper oil which provides the required resistance for rotor movement. (A-ii) Top view of a constant damper casing. (A-iii) Top view of a variable damper casing which shows the clearance variation in the angle \(\beta\). The initial casing radius is \(r_i\) while the final radius is \(r_f\). (B) Drop test rig with the linkage and sensor attachment for force measurement. Top view shows the encoder attachment in the free-rotating joint, which connects the upper link and drop weight, for angle measurement and guide blocks which slides on the guide rail.
