Abstract
Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1346-1351 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059980 |
| DOIs | |
| Publication status | Published - 2017 Aug 21 |
| Event | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7 |
Other
| Other | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
|---|---|
| Country | Germany |
| City | Munich |
| Period | 17/7/3 → 17/7/7 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
Cite this
Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters. / Wang, Yushi; Schmitz, Alexander; Kobayashi, Kento; Lopez, Javier Alejandro Alvarez; Wang, Wei; Matsuo, Yuki; Sakamoto, Yoshihiro; Sugano, Shigeki.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1346-1351 8014205.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters
AU - Wang, Yushi
AU - Schmitz, Alexander
AU - Kobayashi, Kento
AU - Lopez, Javier Alejandro Alvarez
AU - Wang, Wei
AU - Matsuo, Yuki
AU - Sakamoto, Yoshihiro
AU - Sugano, Shigeki
PY - 2017/8/21
Y1 - 2017/8/21
N2 - Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.
AB - Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.
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UR - http://www.scopus.com/inward/citedby.url?scp=85028754342&partnerID=8YFLogxK
U2 - 10.1109/AIM.2017.8014205
DO - 10.1109/AIM.2017.8014205
M3 - Conference contribution
AN - SCOPUS:85028754342
SP - 1346
EP - 1351
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -