Spring-clutch and Safety Strategy for Safe Manipulation

Title
Spring-clutch and Safety Strategy for Safe Manipulation
Authors
홍성훈최동은양기훈최준호강성철이형철
Keywords
Safety strategy; Spring-clutch; Safe Manipulation; Inherent safety; 안전 전략; 스프링 클러치; 안전 매니퓰레이션; 본질적인 안전
Issue Date
2010-11
Publisher
대한기계학회 2010년도 추계학술대회
Citation
, 1396-1402
Abstract
In this study, a novel safe joint mechanism and safety strategy to ensure inherent safety for safe manipulation are presented. The Spring-clutch(SC) is a simple passive mechanism that consists of a spring and cam. When a torque less than a threshold is applied, the SC functions as a rigid joint between the input and the output. However, when the applied torque exceeds the threshold, the SC is released to reduce the collision force. After the applied torque is removed, the SC returns to its original position without additional operations. In addition, a compact joint torque sensor is added to the SC to measure the joint torque, which is used for active compliance control. The SC, however, may not be released depending on the configuration of the manipulator, i.e. singular position. When the manipulator is ill-posed, the applied external torque due to the force becomes zero, which makes the SC fail to work. A safe strategy to ensure safety of the manipulator with the SC is presented.
URI
http://pubs.kist.re.kr/handle/201004/38584
Appears in Collections:
KIST Publication > Conference Paper
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