Design of a Novel Compliant Safe Robot Joint With Multiple Working States
Publication in refereed journal


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摘要This paper presents the design and development of a novel compliant safe joint (CSJ). The principle of operation of the CSJ is based on a cam-like transmission mechanism, which we call the bridge. The cam profile on the stationary bridge is designed to have multiple regions, which allow the CSJ to passively achieve multiple working states. The proposed joint behaves as a normal rigid joint when the load is smaller than a preset threshold, shifts into the flexible state when the load exceeds the threshold, and switches into the free state in which the motion cannot be transmitted from the motor to the output shaft. In order to achieve a compact modular assembly, the joint's components are designed to have the shape of a hollow cylinder and to be installed around the motor. We analyze how the key dimension parameters affect the torque threshold and the joint's stiffness. Experiments are conducted to validate the working principle and verify the performance of the joint.
著者Zerui Wang, Hiu Man Yip, David Navarro-Alarcon, Peng Li, Yun-hui Liu, Dong Sun, Hesheng Wang, Tak Hong Cheung
期刊名稱IEEE/ASME Transactions on Mechatronics
詳細描述organized by IEEE
出版年份2016
月份4
日期1
卷號21
期次2
出版社IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
頁次1193 - 1198
國際標準期刊號1083-4435
電子國際標準期刊號1941-014X
語言英式英語
關鍵詞Compliant joint; mechanical design; physical human-robot interaction; safety
Web of Science 學科類別Automation & Control Systems; Engineering; Engineering, Electrical & Electronic; Engineering, Manufacturing; Engineering, Mechanical

上次更新時間 2021-01-05 於 02:37