서비스 로봇용 가변강성 형 안전관절의 설계Design of a Variable-Stiffness Type Safety Joint for Service Robots
- Authors
- 정재진; 장승환
- Issue Date
- May-2009
- Publisher
- 한국정밀공학회
- Keywords
- Safety Joint Mechanism; 안전관절 메커니즘; Impact Test; 충돌 실험; Variable-stiffness; 가변강성; Kinematic Coupling; 기구 커플링
- Citation
- 한국정밀공학회지, v.26, no.5, pp 128 - 134
- Pages
- 7
- Journal Title
- 한국정밀공학회지
- Volume
- 26
- Number
- 5
- Start Page
- 128
- End Page
- 134
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/32401
- ISSN
- 1225-9071
2287-8769
- 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.
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