Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Small-Sized Variable Stiffness Actuator Module Based on Adjustable Moment Arm

가변 모멘트 암 기반의 소형 가변 강성 액추에이터 모듈

  • 유홍선 (고려대학교 메카트로닉스학과) ;
  • 송재복 (고려대학교 기계공학과)
  • Received : 2012.12.28
  • Accepted : 2013.08.21
  • Published : 2013.10.01
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Abstract

In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.

최근에 들어 로봇과 환경 사이의 상호작용이 다양하게 발생하는 작업에서 가변 강성 액추에이터의 연구가 활발하다. 기존의 다양한 가변 강성 액추에이터가 개발되었지만 크기와 중량 때문에 응용분야를 찾기가 어렵다. 따라서 다양한 분야에 쉽게 이용되기 위해 소형의 가변 강성 액추에이터(miniVSA)를 개발하였다. miniVSA는 모멘트 암 기반의 강성제어 장치와 두 개의 모터로 구성된 구동 장치로 구성된다. 강성제어 장치는 두 캠의 상대 운동을 제어하여 위치와 강성을 동시에 제어할 수 있다. 이를 실험을 통하여 강성 변화를 검증하였다.

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References

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