Design & implementation of an emergency stop function for on-power clutch based adjustable torque limiters

Yushi Wang, Alexander Schmitz, Javier Alejandro Alvarez Lopez, Kento Kobayashi, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Human collaborative robots, which share their workspace with humans, have to fulfill many requirements. This paper shows a way how to combine the requirements of first stopping and subsequent backdrivability in the case of power outage. In particular, a circuit with supercapacitors is designed and implemented that powers an adjustable torque limiter in the case of power loss for a short time to achieve the stop function. After the supercapacitors are depleted, the system is backdrivable. The circuit with the supercapacitors is small enough to be implemented close to the actuator. Tests with varying mass and varying speed are conducted to test the limits of the system when being used without an additional power off brake. The results show that the system is feasible, and also shows the current limitations of the system in regard to brake displacement and brake time.

    Original languageEnglish
    Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages463-468
    Number of pages6
    Volume2018-January
    ISBN (Electronic)9781538622636
    DOIs
    Publication statusPublished - 2018 Feb 1
    Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
    Duration: 2017 Dec 112017 Dec 14

    Other

    Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
    CountryTaiwan, Province of China
    CityTaipei
    Period17/12/1117/12/14

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    ASJC Scopus subject areas

    • Modelling and Simulation
    • Instrumentation
    • Artificial Intelligence
    • Computer Science Applications
    • Engineering (miscellaneous)
    • Materials Science (miscellaneous)
    • Control and Optimization

    Cite this

    Wang, Y., Schmitz, A., Lopez, J. A. A., Kobayashi, K., & Sugano, S. (2018). Design & implementation of an emergency stop function for on-power clutch based adjustable torque limiters. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 463-468). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279264