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

    研究成果: Conference contribution

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ463-468
    ページ数6
    2018-January
    ISBN(電子版)9781538622636
    DOI
    出版物ステータスPublished - 2018 2 1
    イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
    継続期間: 2017 12 112017 12 14

    Other

    Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
    Taiwan, Province of China
    Taipei
    期間17/12/1117/12/14

    ASJC Scopus subject areas

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

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  • これを引用

    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. : SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (巻 2018-January, pp. 463-468). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279264