A Safe Robot Arm with Safe Joints and Gravity Compensator
- Authors
- Choi, Dongeun; Choi, Junho; Cho, Changhyun; Park, Shinsuk; Kang, Sungchul
- Issue Date
- 4월-2013
- Publisher
- INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
- Keywords
- Gravity compensator; joint torque sensor; safe joint mechanism; safe robot arm
- Citation
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.11, no.2, pp.362 - 368
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
- Volume
- 11
- Number
- 2
- Start Page
- 362
- End Page
- 368
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/103700
- DOI
- 10.1007/s12555-012-0268-x
- ISSN
- 1598-6446
- Abstract
- This study presents a robot arm equipped with safe joints and multi DOFs gravity compensators. The safe joint, also referred to as "Spring-clutch", is simple passive mechanism that consist of a spring, a cam, and a joint torque sensor. When the torque applied is lower than a pre-set threshold, the Spring-clutch serves as a rigid joint between the input and output. When the applied torque exceeds the threshold, the Spring-clutch is released and is free to rotate like a revolute joint, which significantly reduces the collision force to avoid damage to the robot, as well as to humans. In addition, a compact joint torque sensor is installed in the Spring-clutch to measure the torque at the joint. Also, the analysis of energy and torque shows that the proposed mechanism can function as a gravity compensator capable of static balancing. Since joint torques vary in accordance with the pose of a manipulator (i.e., rotation angles), a Spring-clutch with a constant threshold torque cannot always guarantee the maximum collision torque in some poses of a manipulator. To overcome this limitation, a gravity compensator is adopted to eliminate the gravitational torque. In this research a bevel gravity compensator is applied which can perform static balancing completely. This paper describes the design principles and fabrication of the safety mechanisms and the robot arm.
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