Experimental study on manipulator design for low collision impact force

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

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
ページ899-904
ページ数6
DOI
出版物ステータスPublished - 2009 11 4
イベント2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
継続期間: 2009 7 142009 7 17

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Singapore
Singapore
期間09/7/1409/7/17

ASJC Scopus subject areas

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

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  • これを引用

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