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MARC
기사명/저자명
Design of Safe Joint with Variable Threshold Torque / Dong-Eun Choi, Woosub Lee, Seong Hun Hong, Sung-Chul Kang, Hyeongcheol Lee, Chang-Hyun Cho 인기도
발행사항
Seoul : Korean Society for Precision Engineering, 2014.12.01
수록지명
International journal of precision engineering and manufacturing. vol. 15 no. 12 (Dec. 2014), pp.2507-2512
자료실
[서울관] 정기간행물실(524호)  도서위치안내(서울관)
외부기관 원문
외부기관 원문
제어번호
KINX2015009275
주기사항
한국연구재단에서 제공한 KCI 등재학술(후보)지임

초록보기 더보기

This study presents a passively variable threshold torque Spring-Clutch (PVSC). When human beings and robots work together as in the service robot example, physical safety of the former should be guaranteed. A passive mechanism is usually preferred because of its high reliability and fast response to collision. The PVSC comprises the Spring-Clutch mechanism (in that a spring and cam are utilized for generating threshold torque), and an adjuster (an additional cam and lever mechanism to adjust the threshold torque). It functions as a rigid joint between the input and output. However, when the applied torque exceeds the threshold value, the PVSC joint is fully released and becomes freely rotatable to guarantee safety during contact. The threshold torque is passively adjusted according to the gravitational torque and, therefore, a constant releasing torque is maintained for all joint rotation angles. The threshold torque of the PVSC increases (or decreases) in response to the variation in the deflection of the spring (achieved by using the adjuster) according to the rotation angle (or gravitational torque). Experiments were performed and the PVSC was implemented in the second joint of the SS-Arm IV.

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Design of Safe Joint with Variable Threshold Torque Dong-Eun Choi, Woosub Lee, Seong Hun Hong, Sung-Chul Kang, Hyeongcheol Lee, Chang-Hyun Cho pp.2507-2512
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참고문헌 (12건) : 자료제공( 네이버학술정보 )더보기

참고문헌 목록에 대한 테이블로 번호, 참고문헌, 국회도서관 소장유무로 구성되어 있습니다.
번호 참고문헌 국회도서관 소장유무
1 Active compliance control of a PUMA 560 robot 네이버 미소장
2 Design of a static balancer with space mapping 소장
3 Federal Aviation Agency, Office of Aviation Medicine, Civil Aeromedical Research Institute. pp. 1 미소장
4 SAE Technical Paper. pp. 379 미소장
5 A New Actuation Approach for Human Friendly Robot Design 네이버 미소장
6 Proc. of IEEE International Conference on Robotics and Automation. pp. 1747 미소장
7 Passive compliance versus active compliance in robot-based automated assembly systems 네이버 미소장
8 Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 4. pp. 1864 미소장
9 Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction 네이버 미소장
10 Proc. of IEEE International Conference on Robotics and Automation. pp. 1760 미소장
11 Proc. of IEEE International Conference on Robotics and Automation. pp. 813 미소장
12 Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 5140 미소장
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