Browse > Article
http://dx.doi.org/10.7746/jkros.2016.11.1.026

Design of Variable Release Torque-based Compliance Spring-clutch and Torque Estimation  

Seok, Ju-Shin (Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology)
Lee, Woo-Sub (Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology)
Kang, Sung-Chul (Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology)
Publication Information
The Journal of Korea Robotics Society / v.11, no.1, 2016 , pp. 26-32 More about this Journal
Abstract
A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.
Keywords
Safe Joint; Joint Mechanism; Torque Estimation;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Yeon-Taek OH, "Development of Humanoid Joint Module for Safe Human-Robot Interaction," J. Korea Robot. Soc, vol. 9, no.4, pp.264-271, December, 2014.   DOI
2 G. A. Pratt and M.M. Williamson, "Series elastic actuator," in IEEE/RSJ Conference on Intelligent Systems and Robots, Pittsburgh, PA, USA, 1995, pp. 399-406.
3 T. Morita and S. Sugano, "Design and development of a new robot joint using a mechanical impedance adjuster," IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 2469-2475.
4 G. Tonietti, R. Schiavi, and A. Bicchi, "Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction," IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 526-531.
5 J. Choi, S. Hong, W. Lee, S. Kang, and M. Kim, "A robot joint with variable stiffness using leaf springs," IEEE Trans. Robotics, vol. 27, no. 2, pp. 229-238, April, 2011.   DOI
6 B. Kim and J. Song, "Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism," IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA, 2010, pp. 1655-1660.
7 J. Park, Y. Lee, J. Song, and H. Kim, "Safe joint mechanism base on nonlinear stiffness for safe human-robot collision," IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008, pp. 2177-2182.
8 W. Lee, J. Choi, and S. Kang, "Spring-clutch: A safe torque limiter based on a spring and CAM mechanism with the ability to reinitialize its position," IEEE/RSJ Conference on Intelligent Systems and Robots, 2009, pp. 5140-5145.
9 C. Cho, W. Lee, and S. Kang, "Static balancing of a manipulator with hemispherical space," IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, Canada, 2010, pp. 1269-1274.