가변 풀림 토크 기반 컴플라이언스 스프링 클러치의 설계 및 토크 추정
Design of Variable Release Torque-based Compliance Spring-clutch and Torque Estimation
석주신(한국과학기술연구원); 이우섭(한국과학기술연구원); 강성철(한국과학기술연구원)
11권 1호, 26~32쪽
초록
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.
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.
- 발행기관:
- 한국로봇학회
- 분류:
- 로봇공학/로보틱스