Experimental study on manipulator design for low collision impact force

Yusuke Sugahara, Keigo Noha, Kazuhiro Kosuge, Jun'ichiro Ooga, Hideichi Nakamoto, Takashi Yoshimi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages899-904
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore
Duration: 2009 Jul 142009 Jul 17

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CitySingapore
Period09/7/1409/7/17

Fingerprint

Manipulators
Tendons
Systems analysis

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Sugahara, Y., Noha, K., Kosuge, K., Ooga, J., Nakamoto, H., & Yoshimi, T. (2009). Experimental study on manipulator design for low collision impact force. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 899-904). [5229895] https://doi.org/10.1109/AIM.2009.5229895

Experimental study on manipulator design for low collision impact force. / Sugahara, Yusuke; Noha, Keigo; Kosuge, Kazuhiro; Ooga, Jun'ichiro; Nakamoto, Hideichi; Yoshimi, Takashi.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 899-904 5229895.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sugahara, Y, Noha, K, Kosuge, K, Ooga, J, Nakamoto, H & Yoshimi, T 2009, Experimental study on manipulator design for low collision impact force. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5229895, pp. 899-904, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, 09/7/14. https://doi.org/10.1109/AIM.2009.5229895
Sugahara Y, Noha K, Kosuge K, Ooga J, Nakamoto H, Yoshimi T. Experimental study on manipulator design for low collision impact force. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 899-904. 5229895 https://doi.org/10.1109/AIM.2009.5229895
Sugahara, Yusuke ; Noha, Keigo ; Kosuge, Kazuhiro ; Ooga, Jun'ichiro ; Nakamoto, Hideichi ; Yoshimi, Takashi. / Experimental study on manipulator design for low collision impact force. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. pp. 899-904
@inproceedings{493a87333819429c8230e3487c257674,
title = "Experimental study on manipulator design for low collision impact force",
abstract = "This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.",
author = "Yusuke Sugahara and Keigo Noha and Kazuhiro Kosuge and Jun'ichiro Ooga and Hideichi Nakamoto and Takashi Yoshimi",
year = "2009",
doi = "10.1109/AIM.2009.5229895",
language = "English",
isbn = "9781424428533",
pages = "899--904",
booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

}

TY - GEN

T1 - Experimental study on manipulator design for low collision impact force

AU - Sugahara, Yusuke

AU - Noha, Keigo

AU - Kosuge, Kazuhiro

AU - Ooga, Jun'ichiro

AU - Nakamoto, Hideichi

AU - Yoshimi, Takashi

PY - 2009

Y1 - 2009

N2 - This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

AB - This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

UR - http://www.scopus.com/inward/record.url?scp=70350451234&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350451234&partnerID=8YFLogxK

U2 - 10.1109/AIM.2009.5229895

DO - 10.1109/AIM.2009.5229895

M3 - Conference contribution

SN - 9781424428533

SP - 899

EP - 904

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

ER -