DocumentCode :
2688895
Title :
Spring-Clutch: A safe torque limiter based on a spring and CAM mechanism with the ability to reinitialize its position
Author :
Lee, Woosub ; Choi, Junho ; Kang, Sungchul
Author_Institution :
Center for Cognitive Robot. Res. at the Korea, Inst. of Sci. & Technol. (KIST), Seoul, South Korea
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
5140
Lastpage :
5145
Abstract :
Service robots are anticipated to be used in unstructured areas such as homes, hospitals, and public areas in the near future. However, safety issues need to be addressed before this can occur. In particular, robot manipulators that handle objects by physical contact run the risk of colliding with people or objects. Thus, it is important to prevent collisions that could injure people and damage robot manipulators. In this study, a safe joint mechanism is developed to ensure the safe use of a manipulator. This mechanism, termed `Spring-Clutch,´ is a simple passive mechanism that consists of a coil spring and a CAM mechanism. When a torque is applied that is less than a threshold value, Spring-Clutch functions as a rigid joint between the input and the output. However, when an applied torque exceeds the threshold, angular displacement occurs between the input and output to reduce the collision force. If the applied torque is removed, Spring-Clutch immediately returns to its nominal position without the need for additional operations. This paper describes the design principles and performance of Spring-Clutch, and discusses the possibility of its practical use as a joint mechanism for safe manipulation.
Keywords :
coils; collision avoidance; manipulator dynamics; springs (mechanical); torque control; CAM mechanism; angular displacement; coil spring; joint mechanism; robot manipulators; service robots; spring-clutch; torque limiter; CADCAM; Coils; Computer aided manufacturing; Control systems; Force control; Intelligent robots; Manipulators; Safety; Springs; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5354650
Filename :
5354650
Link To Document :
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