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Design of Variable Release Torque-based Compliance Spring-clutch and Torque Estimation
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 Title & Authors
Design of Variable Release Torque-based Compliance Spring-clutch and Torque Estimation
Seok, Ju-Shin; Lee, Woo-Sub; Kang, Sung-Chul;
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 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.
 Keywords
Safe Joint;Joint Mechanism;Torque Estimation;
 Language
Korean
 Cited by
 References
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