Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Design of the Proprioceptive Actuator Capable of Simultaneous Bidirectional Driving

양방향 동시 구동이 가능한 고유수용성 구동기의 설계

  • Park, Hui-Chang (Korea Institute of Robotics & Technology Convergence) ;
  • Cho, Yong-Jun (Korea Institute of Robotics & Technology Convergence) ;
  • Yun, Hae-Yong (Korea Institute of Robotics & Technology Convergence) ;
  • Oh, Jang-Seok (Korea Institute of Robotics & Technology Convergence) ;
  • Hong, Hyung-Gil (Korea Institute of Robotics & Technology Convergence) ;
  • Kang, Min-Su (Korea Institute of Robotics & Technology Convergence) ;
  • Park, Kwan-Hyung (Korea Institute of Robotics & Technology Convergence) ;
  • Song, Jae-Bok (Dept. of Mechanical Engineering, Korea University)
  • 박희창 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 조용준 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 윤해룡 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 오장석 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 홍형길 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 강민수 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 박관형 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 송재복 (고려대학교 기계공학과)
  • Received : 2022.07.31
  • Accepted : 2022.08.26
  • Published : 2022.09.30
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Abstract

Because a robot actuator is directly affected by the external force of the robot and accounts for the largest portion of the robot system weight, developing an optimized actuator suitable for each characteristic of the robot system is essential. Although there have been many developments and studies related to robot actuators in various industrial fields, lightweight and compact actuator designs that can control force are still lacking. In this study, a novel actuator module was developed, and its performance was verified experimentally. The structure and control of various robot systems can be optimized by utilizing the proposed actuator. It can be used for various tasks by sensing external force and through feedback control.

Keywords

Acknowledgement

본 결과물은 농림축산식품부의 재원으로 농림식품기술기획평가원의 첨단생산기술개발사업 및 첨단농기계산업화기술개발사업 의 지원을 받아 연구되었음(320028-03).

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