Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지

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

  • Yoon Seong-Sik (Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology) ;
  • Kang Sungchul (Intelligent Robotics Research Center and Tribology Research Center, Korea Institute of Science and Technology) ;
  • Yun Seung-kook (Intelligent Robotics Research Center and Tribology Research Center, Korea Institute of Science and Technology) ;
  • Kim Seung-Jong (Intelligent Robotics Research Center and Tribology Research Center, Korea Institute of Science and Technology) ;
  • Kim Young-Hwan (Intelligent Mechanical System Research Department, Electro- Mechanical Research Institute Hyundai Heavy Industries Co., Ltd) ;
  • Kim Munsang (Intelligent Robotics Research Center, Korea Institute of Science and Technology)
  • Published : 2005.10.01
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Abstract

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.

Keywords

References

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