The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of Variable Release Torque-based Compliance Spring-clutch and Torque Estimation

가변 풀림 토크 기반 컴플라이언스 스프링 클러치의 설계 및 토크 추정

  • Seok, Ju-Shin (Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology) ;
  • Lee, Woo-Sub (Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology) ;
  • Kang, Sung-Chul (Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology)
  • Received : 2015.10.21
  • Accepted : 2016.01.04
  • Published : 2016.02.29
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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.

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References

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