Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of a Variable-Stiffness Type Safety Joint for Service Robots

서비스 로봇용 가변강성 형 안전관절의 설계

  • 정재진 (중앙대학교 공과대학 기계공학부) ;
  • 장승환 (중앙대학교 공과대학 기계공학부)
  • Published : 2009.05.01
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Abstract

This paper aims to design a variable-stiffness type economical safety joint for service robots. The safety joint was designed to have a passive shock absorbing mechanism for protecting human from a catastrophic collision under service condition of robots. A simple mechanism composed of two action disks for switching the load transfer, a spring and a screw for pre-load was proposed. In order to evaluate the performance of the safety joint a testing platform which can carry out the static and impact tests was also designed and fabricated. From the test results, the designed safety joint was proved to have a variable load-carrying capacity and about 42% impact absorption capacity with simple manipulation of the control screw.

Keywords

References

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