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

*この研究の対応する著者

研究成果

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版社Institute of Electrical and Electronics Engineers Inc.
ページ463-468
ページ数6
ISBN(電子版)9781538622636
DOI
出版ステータス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

出版物シリーズ

名前SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
2018-January

Other

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

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 器械工学
  • 人工知能
  • コンピュータ サイエンスの応用
  • 工学(その他)
  • 材料科学(その他)
  • 制御と最適化

フィンガープリント

「Design & implementation of an emergency stop function for on-power clutch based adjustable torque limiters」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル