A Safe Robot Arm with Safe Joints and Gravity Compensator
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Dongeun | - |
dc.contributor.author | Choi, Junho | - |
dc.contributor.author | Cho, Changhyun | - |
dc.contributor.author | Park, Shinsuk | - |
dc.contributor.author | Kang, Sungchul | - |
dc.date.accessioned | 2021-09-06T03:16:55Z | - |
dc.date.available | 2021-09-06T03:16:55Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-04 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/103700 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS | - |
dc.subject | DESIGN | - |
dc.title | A Safe Robot Arm with Safe Joints and Gravity Compensator | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Shinsuk | - |
dc.identifier.doi | 10.1007/s12555-012-0268-x | - |
dc.identifier.scopusid | 2-s2.0-84879515544 | - |
dc.identifier.wosid | 000316818300016 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.11, no.2, pp.362 - 368 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.title | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.volume | 11 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 362 | - |
dc.citation.endPage | 368 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001751710 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Gravity compensator | - |
dc.subject.keywordAuthor | joint torque sensor | - |
dc.subject.keywordAuthor | safe joint mechanism | - |
dc.subject.keywordAuthor | safe robot arm | - |
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