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http://dx.doi.org/10.14775/ksmpe.2022.21.09.098

Design of the Proprioceptive Actuator Capable of Simultaneous Bidirectional Driving  

Park, Hui-Chang (Korea Institute of Robotics & Technology Convergence)
Cho, Yong-Jun (Korea Institute of Robotics & Technology Convergence)
Yun, Hae-Yong (Korea Institute of Robotics & Technology Convergence)
Oh, Jang-Seok (Korea Institute of Robotics & Technology Convergence)
Hong, Hyung-Gil (Korea Institute of Robotics & Technology Convergence)
Kang, Min-Su (Korea Institute of Robotics & Technology Convergence)
Park, Kwan-Hyung (Korea Institute of Robotics & Technology Convergence)
Song, Jae-Bok (Dept. of Mechanical Engineering, Korea University)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.21, no.9, 2022 , pp. 98-104 More about this Journal
Abstract
Because a robot actuator is directly affected by the external force of the robot and accounts for the largest portion of the robot system weight, developing an optimized actuator suitable for each characteristic of the robot system is essential. Although there have been many developments and studies related to robot actuators in various industrial fields, lightweight and compact actuator designs that can control force are still lacking. In this study, a novel actuator module was developed, and its performance was verified experimentally. The structure and control of various robot systems can be optimized by utilizing the proposed actuator. It can be used for various tasks by sensing external force and through feedback control.
Keywords
Robot Actuator; Proprioceptive Actuator; Driving Mechanism; Joint Module;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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