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

Jeong, Jae-Jin (School of Mechanical Engineering, Chung-Ang Univ.)
Chang, Seung-Hwan (School of Mechanical Engineering, Chung-Ang Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.5, 2009 , pp. 128-134 More about this Journal
Abstract
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.
Keywords
Safety Joint Mechanism; Impact Test; Variable-stiffness; Kinematic Coupling;
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Times Cited By KSCI : 3  (Citation Analysis)
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