Development and evaluation of a linear series clutch actuator for vertical joint application with static balancing

研究成果: Conference contribution

抄録

Future robots are expected to share their workspace with humans. Controlling and limiting the forces that such robots exert on their environment is crucial. While force control can be achieved actively with the help of force sensing, passive mechanisms have no time delay in their response to external forces, and would therefore be preferable. Series clutch actuators can be used to achieve high levels of safety and backdrivability. This work presents the first implementation of a linear series clutch actuator. It can exert forces of more than 110N while weighing less than 2kg. Force controllability and safety are demonstrated. Static balancing, which is important for the application in a vertical joint, is also implemented. The power consumption is evaluated, and for a payload of 3kg and with the maximum speed of 94mm/s, the power consumed by the actuator is 11W. Overall, a practical implementation of a linear series clutch actuator is reported, which can be used for future collaborative robots.

本文言語English
ホスト出版物のタイトル2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6353-6360
ページ数8
ISBN(電子版)9781728162126
DOI
出版ステータスPublished - 2020 10 24
イベント2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
継続期間: 2020 10 242021 1 24

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
国/地域United States
CityLas Vegas
Period20/10/2421/1/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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