인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2020.12
- 수록면
- 1,039 - 1,046 (8page)
- DOI
- 10.5302/J.ICROS.2020.20.0152
이용수
초록· 키워드
Recently, with the increasing requirement of human-robot cooperation, robot safety has become an important issue in the robotics field. Counterbalance mechanisms were proposed as a solution to address this problem as it can ensure intrinsic safety and minimize the required torque of the actuators. However, previous counterbalance mechanisms were designed to compensate for the gravitational torque generated due to the weight of robots. Therefore, actuators should be selected to provide sufficient torque to support the payload. In this study, we propose a variable counterbalance mechanism for counterbalance mechanism improvement. The proposed mechanism can adjust the counterbalancing torque according to the weight of the payload attached at the end effector of the robot arm, such as a tool, gripper, or grasped object. Therefore, the torque required to support not only the self-weight of the robot arm but also any additional external load can be compensated effectively using the proposed variable counterbalance mechanism. Moreover, a 1 degree-of-freedom variable counterbalance arm was constructed to verify the effectiveness of the proposed mechanism. Various simulations and experimental results showed that the proposed variable counterbalance mechanism can effectively decrease the torque required to support the robot mass and payload. Hence, low-capacity actuators can be used for designing robots with desired specifications (e.g., maximum payload and repeatability) and safety.
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목차
- Abstract
- Ⅰ. 서론
- II. 가변 자중보상장치의 설계
- III. 가변 자중보상 로봇
- IV. 실험 및 결과
- V. 결론
- REFERENCES
참고문헌
참고문헌 신청최근 본 자료
UCI(KEPA) : I410-ECN-0101-2021-003-000053159
