Safe Arm Design with MR - based Passive Compliant Joints and Visco - elastic Covering for Service Robot Applications

Seong-Sik Yoon; Sungchul Kang; Seung-kook Yun; Seung-Jong Kim; Young-Hwan Kim; Munsang Kim

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자료유형: 학술저널

저자정보: Seong-Sik Yoon Sungchul Kang Seung-kook Yun Seung-Jong Kim Young-Hwan Kim Munsang Kim

저널정보: 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.19 No.10

발행연도: 2005.10

수록면: 1,835 - 1,845 (11page)

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In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

참고문헌 (19)

참고문헌 신청

Albu-Shaffer, A. and Hirzinger, G., 2002, "Cartesian Impedance Control Techniques for Torque Cantralled Light-Weight Robots," Proc. of the IEEE International Conference on Robotics and Automation, pp.657~663.

Carlson, J. D., Cawllzarite, D. M. and St. Clair, K. A., 1996, "Commercial Magneto-rheological Fluid Devices," Proc. of Electro-Rheological, Magneto-Rheological Suspensions and Associated Technology, W. Bullough, Ed., World Scientific, Singapore, pp.20~28

Ikuta, K. and Nakata, M., 1999, "General Evaluation Method of Safety for Human-care Robots," Proc. of the IEEE International Conference on Robotics and Automation, pp.2065~2072.

Iwata, H., Hoshino, H., Morita, T. and Sugano, S., 1999, "A Physical Interfierence Adapting Hardware System Using MIA and Humanoid Surface Covers," Proc. of IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp.1216~1221.

JoJJy, M. R., Bendor, J. W. and Carlson, J. D., 1998, "Properties and Applications of Commercial Magnetorehological Fluids," Proc. of SPIE 5th Annual Int. Symposium on Smart Stucures and Materials.

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