Browse > Article
http://dx.doi.org/10.3795/KSME-A.2012.36.11.1405

Stiffness Analysis of Spring Mechanism for Semi-Automatic Gripper Motion of Tendon-Driven Remote Manipulator  

Yu, Seung-Nam (Korea Atomic Energy Research Institute)
Lee, Jong-Kwang (Korea Atomic Energy Research Institute)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.36, no.11, 2012 , pp. 1405-1411 More about this Journal
Abstract
Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.
Keywords
Remote Handling System; Tendon-Driven System; Kinematic Influence Coefficient(KIC); Spring Mechanism; Gripper System;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Yu, S. N., Kim, S. H., Lee, H. J., Lee, J. K., Park, B. S. and Kim, K. H., 2011, "Assessment of Remote Handling Tasks for Pyroprocessing Equipment," Spring Annual Conference of Korean Society for Precision Engineering, pp. 515-516.
2 Annual Project Report, 2009, "Development of System Engineering Technology for Nuclear Fuel Cycle," KAERI/RR-3145/2009.
3 Park, B. S., Lee, J. K., Lee, H. J., Yu, S. N. and Kim, K. H., 2011, "Remote Modular Design for a Bridge Transported Dual Arm Servo-Manipulator Applied in Pyroprocessing Facility," Int. Conf. on Informatics in Control, Automation and Robotics, pp. 1708-1711
4 Lee, J. K., Lee, H. J., Park, B. S., Yu, S. N., Kim, K. H. and Kim, H. D., 2011, "Bilateral Control of Master-Slave Manipulator System Using Time Delay Control," Int. Conf. on Informatics in Control, Automation and Robotics, pp. 37-42.
5 Lee, J. K., Lee, H. J., Park, B. S., and Kim, K. H., 2012, "Bridge-Transported Bilateral Master-Slave Servo Manipulator System for Remote Manipulation in Spent Nuclear Fuel Processing Plant," Journal of Field Robotics, Vol. 29, No. 1, pp. 138-160.   DOI   ScienceOn
6 Yu, S. N., Lee, J. K., Lee, H. J., Kim, S. H., Park, B. S., Kim, K. H. and Kim, H. D., 2011, "Assessment of Remote Disassembly Task for BDSM (Bridge transported Dual Arm Servo-Manipulator)," Korean Radioactive Waste Society, Autumn Annual Conference, pp. 105-106.
7 Tesar, D. and Tosunoglu S., 1991, "Advanced Robotics for Mechanical Engineers," Lecture note, Dept. of Mechanical Engineering, University of Texas-Austin.
8 Lee, J. K., Park, B. S., Lee, H. J., Yu, S. N., Kim, K. H. and Kim, H. D., 2011, "Performance Improvement of Mechanical Part of Remote Handling Servo-Manipulator System for PRIDE Facility," Korean Radioactive Waste Society, Spring Annual Conference, pp. 125-126.
9 Internet Website: http://www.hwm.com/12-1-Master-Slave+Manipulator+Typen+A100.html (Accessed 22 May 2012)
10 Vertut, J. and Coiffet, P., 1985, Teleoperation and Robotics - Evolution and Development, Hermes Publishing, pp. 15-19.