한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제26권5호
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  • Pages.128-134
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  • 2009
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

서비스 로봇용 가변강성 형 안전관절의 설계

Design of a Variable-Stiffness Type Safety Joint for Service Robots

  • 정재진 (중앙대학교 공과대학 기계공학부) ;
  • 장승환 (중앙대학교 공과대학 기계공학부)
  • 발행 : 2009.05.01
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초록

This paper aims to design a variable-stiffness type economical safety joint for service robots. The safety joint was designed to have a passive shock absorbing mechanism for protecting human from a catastrophic collision under service condition of robots. A simple mechanism composed of two action disks for switching the load transfer, a spring and a screw for pre-load was proposed. In order to evaluate the performance of the safety joint a testing platform which can carry out the static and impact tests was also designed and fabricated. From the test results, the designed safety joint was proved to have a variable load-carrying capacity and about 42% impact absorption capacity with simple manipulation of the control screw.

키워드

참고문헌

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